Automated Vehicle Trajectory Coordination via Arbitration
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Solution Overview
Problem
In high vehicle density situations, especially in confined spaces like parking garages, fully automated vehicles face challenges in coordinating their movements, leading to deadlocks or slow resolution of traffic situations due to independent trajectory determination without considering other vehicles' behavior.
Innovation Solution
A method where vehicles determine trajectories considering ego-information and environmental data, exchange trajectory data via communication links, check for conflicts, and adapt trajectories using arbitration rules to resolve conflicts, ensuring coordinated movement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If vehicles determine trajectories independently using only local information, then each vehicle can operate autonomously without complex communication, but deadlocks and traffic congestion occur in high-density situations
Solution Approach 1:
The patent introduces an arbitration device as an intermediary that coordinates trajectories between multiple automated vehicles. This mediator receives trajectory requests from vehicles, detects conflicts, and resolves them by adapting trajectories based on arbitration rules, thereby preventing deadlocks while maintaining autonomous operation of individual vehicles
Solution Approach 2:
The system implements feedback mechanisms where vehicles exchange information about their intended trajectories and receive feedback from the arbitration device about conflicts and required adaptations. This continuous feedback loop enables vehicles to adjust their trajectories dynamically to maintain efficient traffic flow
2Productivity
If vehicles exchange trajectory data and use arbitration rules to coordinate, then traffic flow and vehicle density can be optimized, but system complexity and communication requirements increase
Solution Approach 1:
The coordination system is segmented into distinct functional components: trajectory determination units in each vehicle, communication devices for data exchange, and an arbitration device for conflict resolution. This segmentation allows the complex coordination task to be distributed and managed in manageable parts
Solution Approach 2:
Vehicles determine and exchange their intended trajectories before execution, allowing the arbitration device to detect potential conflicts in advance and adapt trajectories preventively. This preliminary coordination action prevents deadlocks before they occur rather than reacting to them
3Reliability
If trajectory conflicts are resolved by detecting vehicle movements with sensors, then coordination can be achieved, but deadlocks occur in confined spaces with high vehicle density
Solution Approach 1:
Instead of reacting to vehicle movements after they occur, the system exchanges intended trajectory data before movements are executed. This allows conflicts to be identified and resolved in advance, preventing deadlocks in confined spaces rather than reacting to them after they occur
Solution Approach 2:
The arbitration device acts as an intermediary that coordinates all vehicle trajectories centrally, ensuring that no vehicle movements create deadlocks. This mediator oversees the entire coordination process to maintain both reliability and efficiency
Data Source
AI summary
In a method for coordinating operation of motor vehicles driving fully automated, a trajectory described by a driving intervention is determined for each motor vehicle from status information of the motor vehicle, whereafter it is determined by an on-board vehicle system whether a coordination condition exists that requires coordination. If a coordination condition exists, trajectory data describing the trajectory are exchanged between the motor vehicles via a communication link through an on-board communication device and the trajectory is checked for conflicts caused by spatial and temporal overlap of the trajectories of at least two motor vehicles and/or because at least one of the motor vehicles did not reach its destination. If a conflict exists, the trajectory of a motor vehicle participating in the conflict is adjusted based on an arbitration rule evaluated by an arbitration device, whereafter the driving interventions described by the trajectory are performed by each motor vehicle.