Vehicle Route Calculation Device Branching Avoidance Routes
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Conventional route calculation devices for vehicles can only calculate routes for avoiding two objects by separately calculating individual avoidance routes, limiting the range of choices and often failing to find an appropriate route for multiple obstacles.
Innovation Solution
A route calculation device that determines candidate points for branching off the first avoidance route based on the vehicle's traveling direction, speed, and yaw rate, allowing for a more comprehensive search of second avoidance routes that can bypass both avoidance areas by estimating necessary yaw angle changes and achievable changes, thereby broadening the range of choices.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the route calculation device separately calculates individual avoidance routes for each object, then the calculation load is reduced, but the range of route choices is limited and appropriate routes may not be found
Solution Approach 1:
The patent performs preliminary calculation of the first avoidance route before using it as a basis for calculating the second avoidance route. This preliminary action allows the system to establish a foundation route that can be subsequently modified and branched, rather than calculating all possible routes simultaneously, thus reducing overall calculation load while maintaining route diversity options.
Solution Approach 2:
The patent segments the route calculation process into distinct stages: first calculating an initial avoidance route, then identifying branch points along that route, and finally calculating second avoidance routes from those branch points. This segmentation divides the complex problem of avoiding multiple objects into manageable sequential steps, improving calculation efficiency while preserving route choice flexibility through the branch point mechanism.
2Device complexity
If the branch point is determined uniformly based on positional relationship, then the calculation process is simplified, but the candidate points for branching are limited
Solution Approach 1:
The patent dynamically determines branch points based on multiple factors including the vehicle's traveling direction, speed, and yaw rate at each point on the first avoidance route, rather than using a fixed uniform criterion. This dynamic approach adapts the branch point selection to the specific conditions at each location, increasing the number and quality of candidate points while managing complexity through systematic evaluation criteria.
Solution Approach 2:
The patent changes the parameters used for determining branch points from simple positional relationships to include vehicle dynamics parameters such as traveling direction, speed, and yaw rate. By incorporating these additional parameters, the system identifies more suitable candidate points for branching without excessively complicating the calculation process, as each parameter provides specific guidance for route optimization.
Data Source
AI summary
A route calculation device determines a candidate point for a branch off a first avoidance route to a second avoidance route at a time of calculating the second avoidance route. The candidate point is determined based on a traveling direction and speed of a vehicle at each point on the first avoidance route, a tangential direction of a boundary line of a second avoidance area at a predicted entry point into the second avoidance area, and a certain yaw rate not more than a maximum yaw rate of the vehicle.