Vehicle Trajectory Cost Space Segmentation
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Solution Overview
Problem
Existing driver assistance systems face challenges in efficiently calculating vehicle trajectories to avoid collisions in real-time due to high computational requirements.
Innovation Solution
A method involving the registration of object coordinates, creation of occupancy and cost maps, and calculation of a cost space with multiple layers, where cell values represent collision probabilities and distances, allowing for the determination of a cost-effective trajectory.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If comprehensive trajectory monitoring is performed to ensure collision avoidance, then safety and reliability are improved, but computational complexity and processing time increase significantly
Solution Approach 1:
The patent divides the continuous trajectory monitoring problem into discrete cost space layers, where each layer represents a specific vehicle orientation. This segmentation allows the system to process trajectory calculations in manageable discrete steps rather than continuous computation, reducing overall computational complexity while maintaining comprehensive collision monitoring.
Solution Approach 2:
The patent pre-calculates cost spaces for multiple vehicle orientations before actual trajectory planning is needed. By preparing these cost space layers in advance, the system reduces real-time computational requirements when actual collision avoidance decisions must be made, thus improving reliability without proportionally increasing computational complexity.
2Speed
If real-time trajectory calculation is implemented, then responsiveness and speed are improved, but computational resources and processing power are consumed
Solution Approach 1:
The cost spaces for different vehicle orientations are calculated in advance and stored, so that during real-time operation, the system only needs to retrieve and compare pre-computed cost spaces rather than performing full trajectory calculations. This preliminary action enables fast real-time responses while minimizing computational resource consumption during critical decision-making moments.
Solution Approach 2:
The patent focuses computational effort on calculating cost spaces for locally relevant vehicle orientations rather than all possible orientations. By identifying and calculating only the cost spaces needed for current driving conditions and potential maneuver ranges, the system achieves real-time performance with reduced computational resource usage.
Data Source
AI summary
A method and a device for establishing a trajectory for a vehicle is provided. The method includes the following steps: registering coordinates of objects using a sensor; calculating a cost map on the basis of the registered coordinates, wherein the cost map is subdivided into cells and a cost value is assigned to each cell, which cost value describes the presence and/or the vicinity of an object, calculating a cost space, which has a plurality of layers, wherein each layer is subdivided into cells and a cost value is assigned to each cell, wherein the cost values in the respective layers are calculated in each case for a specific orientation of the vehicle, and determining a trajectory that is as cost-effective as possible.