Vehicle Path Verification Using Pre-Optimized Controller Inputs
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Solution Overview
Problem
Existing vehicle control systems face challenges in accurately navigating around objects in the environment due to noisy data and disturbances, leading to deviations between planned and actual paths, which requires efficient verification of control parameters to minimize these deviations.
Innovation Solution
A remote server computer determines optimized controller inputs using a vehicle dynamics model, identifying reference control parameters that correspond to planned control parameters, and verifies the planned path by determining an actual path and operating range, reducing computational time and resources by using pre-optimized inputs.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If real-time optimization of controller inputs is performed to verify planned paths, then verification accuracy is improved, but computational time and resources increase significantly
Solution Approach 1:
The system pre-optimizes controller inputs for multiple reference control parameters before runtime, storing these optimized inputs in a lookup table. During path verification, the system simply retrieves pre-computed optimized inputs corresponding to the planned control parameters, avoiding real-time optimization computations while maintaining verification accuracy
Solution Approach 2:
The system pre-calculates and stores optimized controller inputs for various reference control parameters in advance, creating a buffer of pre-computed solutions that cushion against the need for expensive real-time computations during critical path verification operations
2Measurement precision
If comprehensive verification of planned paths is performed to minimize deviations, then navigation accuracy is improved, but computational resources increase
Solution Approach 1:
The system performs comprehensive verification computations in advance by pre-optimizing controller inputs for multiple reference control parameters and storing them in a lookup table, transforming resource-intensive real-time verification into efficient data retrieval operations
Solution Approach 2:
The system creates a lookup table that copies pre-computed optimized controller inputs for various reference control parameters, allowing the verification system to use these copied values instead of performing full optimization computations during runtime
Data Source
AI summary
Based on a set of planned control parameters defining a planned path for a vehicle, a set of reference control parameters corresponding to the set of planned path control parameters are identified. Optimized controller inputs associated with the identified set of reference control parameters, the set of planned control parameters, and operation noise data are input to a vehicle dynamics model that outputs a vehicle state model. Based on the vehicle state model, an actual path for the vehicle and an operating range for the actual path are determined. The planned path is determined to be one of verified or unverified based on the operating range.