Autonomous Vehicle Path Replanning Around Obstacles With Curvature Limits
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Solution Overview
Problem
Autonomous vehicles face challenges in modifying their travel paths when encountering external objects while in operation, particularly at higher levels of autonomy where human intervention is not possible.
Innovation Solution
A system and method for controlling a vehicle that identifies external objects causing a stop in the travel path, generates a new second travel path by changing the locations of points in the original path, and determines the feasibility of this new path based on radius of curvature and motion characteristics, allowing the vehicle to bypass obstacles and maintain stability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the vehicle operates along the original first travel path, then the vehicle follows the planned autonomous driving path, but the vehicle stops when encountering external objects causing operation delays
Solution Approach 1:
The system dynamically adjusts the travel path from the original first autonomous driving path to a modified second autonomous driving path when external objects are detected. The path modification is performed in real-time during vehicle operation, allowing the vehicle to bypass obstacles and continue operation without stopping, thereby maintaining productivity while avoiding time loss.
Solution Approach 2:
The system performs preliminary path planning by generating multiple candidate second autonomous driving paths before actual obstacle encounters. When an external object is detected, the system can immediately execute a pre-calculated alternative path, avoiding operation delays. The path modification points are calculated in advance based on potential obstacle locations.
2Productivity
If the vehicle modifies the travel path to bypass obstacles, then the vehicle can continue operation without stopping, but the vehicle stability may be compromised during path transition
Solution Approach 1:
The system ensures vehicle stability during path modification by constraining the curvature radius of the second autonomous driving path to be greater than a predetermined value. This smooths the transition curve when bypassing obstacles, preventing abrupt steering changes that could compromise vehicle stability while still allowing the vehicle to continue operation without stopping.
3Adaptability or versatility
If the vehicle generates multiple second travel paths by changing point locations, then the vehicle has more path options to bypass obstacles, but the computational complexity increases
Solution Approach 1:
The system segments the autonomous driving path into multiple discrete points and generates alternative paths by modifying the locations of these individual points. By dividing the path into manageable segments and adjusting only necessary points, the system provides multiple path options for bypassing obstacles while keeping the computational complexity manageable through localized rather than global path recalculation.
Data Source
AI summary
The present disclosure relates to a system and a method for controlling a vehicle, and the system includes a vehicle control device included in the vehicle, and a control center. The vehicle control device transmits first information including at least one of information on the vehicle or information related to travel of the vehicle, or any combination to the control center based on identifying an external object causing an operation of the vehicle to be stopped within a first travel path while the vehicle is operated along the first travel path. The control center changes the first travel path to generate a second travel path based on reception of the first information, and transmits second information including the second travel path to the vehicle control device based on the generation of the second travel path.