Automated Vehicle Trajectory Control with Tolerance Region

Solution Overview

Problem

Highly automated driving systems face challenges in balancing accurate trajectory tracking with comfort and energy efficiency, as existing methods prioritize precise positioning over comfort and energy optimization, leading to suboptimal performance in situations where exact positioning is not necessary.

Innovation Solution

A method and apparatus for operating an automated motor vehicle that allows for deviations from a target trajectory within a defined tolerance region, prioritizing comfort and energy efficiency by adjusting actuator gradients and control device parameters, using environmental data to determine permissible deviations and switch between control objectives.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Measurement precision

If the vehicle is guided accurately along the target trajectory, then positioning precision is improved, but comfort and energy efficiency deteriorate due to minimized changes in acceleration not being prioritized

Engineering Contradiction:

Improvepositioning precisionVSAvoidenergy efficiency

Core Design Contradiction:

Measurement precisionVSUse of energy by moving object

Solution Approach 1:

The patent applies local quality by differentiating control priorities within different spatial regions. A tolerance region is defined around the target trajectory where relaxed control (prioritizing comfort and energy efficiency) is permitted, while outside this region, strict trajectory tracking is enforced. This allows the system to adapt control quality locally based on positional requirements.

Inventive Principle:

Principle #3Local quality

Solution Approach 2:

The patent implements dynamics by making control priorities adaptive rather than static. The control system dynamically switches between two priority modes: accurate trajectory tracking when outside the tolerance region, and comfort/energy-optimized guidance when inside the tolerance region. This dynamic adaptation resolves the contradiction by allowing both objectives to take precedence in appropriate contexts.

Inventive Principle:

Principle #15Dynamics

2Measurement precision

If the vehicle is guided accurately along the target trajectory, then positioning precision is improved, but comfort deteriorates due to increased jerky motions

Engineering Contradiction:

Improvepositioning precisionVSAvoidcomfort

Core Design Contradiction:

Measurement precisionVSEase of operation

Solution Approach 1:

The patent applies local quality by differentiating control priorities within different spatial regions. A tolerance region is defined around the target trajectory where relaxed control (prioritizing comfort and energy efficiency) is permitted, while outside this region, strict trajectory tracking is enforced. This allows the system to adapt control quality locally based on positional requirements.

Inventive Principle:

Principle #3Local quality

Solution Approach 2:

The patent implements dynamics by making control priorities adaptive rather than static. The control system dynamically switches between two priority modes: accurate trajectory tracking when outside the tolerance region, and comfort/energy-optimized guidance when inside the tolerance region. This dynamic adaptation resolves the contradiction by allowing both objectives to take precedence in appropriate contexts.

Inventive Principle:

Principle #15Dynamics

3Use of energy by moving object

If actuator gradients are adjusted for energy optimization, then energy efficiency is improved, but trajectory tracking accuracy deteriorates

Engineering Contradiction:

Improveenergy efficiencyVSAvoidtrajectory tracking accuracy

Core Design Contradiction:

Use of energy by moving objectVSMeasurement precision

Solution Approach 1:

The patent applies local quality by differentiating control priorities within different spatial regions. A tolerance region is defined around the target trajectory where relaxed control (prioritizing comfort and energy efficiency) is permitted, while outside this region, strict trajectory tracking is enforced. This allows the system to adapt control quality locally based on positional requirements.

Inventive Principle:

Principle #3Local quality

Solution Approach 2:

The patent implements dynamics by making control priorities adaptive rather than static. The control system dynamically switches between two priority modes: accurate trajectory tracking when outside the tolerance region, and comfort/energy-optimized guidance when inside the tolerance region. This dynamic adaptation resolves the contradiction by allowing both objectives to take precedence in appropriate contexts.

Inventive Principle:

Principle #15Dynamics

Data Source

PatentUS10457292B2Method and apparatus for operating an automated motor vehicle

Publication Date: 2019.10.29 ROBERT BOSCH GMBH

AI summary

A method for operating an automated motor vehicle includes: ascertaining a target trajectory for the motor vehicle, acquiring environmental data of the motor vehicle, ascertaining a tolerance region of the target trajectory based on the acquired environmental data, and guiding the motor vehicle in the tolerance region of the target trajectory in such a way that guidance of the motor vehicle with the smallest possible changes in acceleration and/or with energetically optimized propulsion is definedly more highly prioritized than definedly accurate guidance of the motor vehicle along the target trajectory.