Automated Vehicle Trajectory Planning via Central Infrastructure Coordination
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Solution Overview
Problem
Current methods for partially automated motor vehicle guidance face challenges in coordinating driving operations between vehicles and accounting for obstacles not mapped or detectable by vehicle sensors, limiting the planning horizon and requiring significant coordination efforts, with central device assessments being less robust and lacking detail.
Innovation Solution
The method involves planning trajectories on the motor vehicle side using high-resolution sensor data, transmitting plan data to a central device for evaluation, and adjusting trajectories based on release or modification messages to ensure robust coordination and consideration of obstacles, while the central device decides on trajectory implementation to maintain system predictability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If trajectory planning is carried out on the vehicle side using high-resolution sensor data, then planning detail and vehicle-specific optimization are improved, but coordination between multiple vehicles becomes difficult and planning horizon is limited by undetected obstacles
Solution Approach 1:
The trajectory planning process is divided into two segments: local trajectory planning is performed by the vehicle using its sensor data for detailed path generation, while global coordination and obstacle awareness are handled by the central facility. This segmentation allows each component to optimize for its specific function without compromising the other.
Solution Approach 2:
The central facility acts as an intermediary between multiple vehicles, receiving trajectory plans from vehicles, checking for conflicts and obstacles, and coordinating the overall traffic flow. This intermediary enables coordination between vehicles without requiring direct communication between each vehicle pair.
2Adaptability or versatility
If trajectory planning is shifted to a central facility for better coordination, then coordination between vehicles is improved, but planning detail and robust assessment of traversability deteriorate
Solution Approach 1:
The planning function is segmented between the vehicle (local detailed planning) and central facility (global coordination), allowing both high coordination capability and high planning detail to coexist through division of labor.
Solution Approach 2:
The system merges the advantages of both vehicle-side planning (detailed, vehicle-specific optimization) and central facility planning (coordination, obstacle awareness) into a hybrid approach where both functions work together synergistically.
3Reliability
If the planning horizon is extended by considering all mapped and detected obstacles, then safety is improved, but the complexity of coordinating multiple vehicles increases significantly
Solution Approach 1:
The central facility serves as a mediator that handles the complex coordination task of considering all obstacles and vehicles in the extended planning horizon, freeing individual vehicles from the burden of managing global coordination complexity while maintaining safety.
Data Source
AI summary
The invention relates to a method for the at least partially automated operation of a motor vehicle. The method includes ascertaining a planned trajectory to be traversed by the motor vehicle. The method further includes transmitting plan data relating to the planned trajectory from the motor vehicle to a central device on the infrastructure side and evaluating a release condition, the meeting of which depends on the plan data, by means of the central device. The method also includes transmitting a release message from the central device to the motor vehicle if the release condition has been met, and transmitting a modification message from the central device to the motor vehicle if the release condition has not been met. The planned trajectory is ascertained again on the motor vehicle side upon receiving a modification message in order to determine another planned trajectory.