Vehicle Trajectory Control Using Multi-Point Front Object Positions
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Solution Overview
Problem
Existing vehicle position processing technologies generate target traveling routes based solely on reference and back points, leading to errors, especially when the preceding vehicle is on a sharp curve, due to the exclusion of other detection positions.
Innovation Solution
A vehicle position processing apparatus that includes a target object position acquisition unit, a data selection unit for trajectory generation, and a trajectory generation unit, which selects and generates a trajectory using multiple positions of the target object within a continuous range close to the own vehicle, improving the accuracy of the trajectory generation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If the target traveling route is generated only by the reference point, the front point, and the back point, then the trajectory generation process is simple, but the detection positions of the preceding vehicle other than these front point and back point are not considered, leading to large errors especially when the preceding vehicle is traveling on the sharp curve
Solution Approach 1:
The patent segments the trajectory generation process into multiple stages: (1) acquiring multiple detection positions of the preceding vehicle, (2) selecting appropriate positions based on curvature conditions, (3) generating trajectory using selected positions. This segmentation allows the system to use simple three-point method when conditions permit, while switching to multi-point method when curvature requires higher accuracy, thus resolving the contradiction between simplicity and precision.
Solution Approach 2:
The patent implements dynamic selection of trajectory generation method based on real-time curvature conditions. When the preceding vehicle is on a sharp curve (high curvature), the system dynamically switches from simple three-point trajectory generation to multi-point trajectory generation using additional detection positions. This dynamic adaptation ensures high accuracy when needed while maintaining simplicity under normal conditions, resolving the contradiction between process complexity and trajectory accuracy.
2Measurement precision
If more positions of the target object are used for trajectory generation, then the generation accuracy of the trajectory is improved, but the computational complexity and processing time increase
Solution Approach 1:
The patent applies partial action by selectively using only the necessary number of detection positions based on curvature conditions. Instead of always using all available detection positions (excessive action), the system uses exactly three positions when curvature is low, and adds more positions only when curvature exceeds thresholds. This partial usage optimizes the balance between accuracy improvement and computational time consumption.
Solution Approach 2:
The patent changes the parameter of trajectory generation accuracy by adjusting the number of detection positions used, based on curvature parameters. When curvature parameter indicates sharp curve, the system increases the number of positions from 3 to more, thereby changing the accuracy parameter dynamically. This parameter-based adaptation allows the system to achieve high accuracy when needed without permanently increasing computational burden, resolving the time-accuracy trade-off.
Data Source
AI summary
To provide a vehicle position processing apparatus, a vehicle control apparatus, a vehicle position processing method, and a vehicle control method capable of increasing the number of the position information of front object used for generation of the trajectory and improving the generation accuracy of the trajectory. A vehicle position processing apparatus, a vehicle control apparatus, a vehicle position processing method, and a vehicle control method that obtains positions of a target object, sets a trajectory generation range which is a continuous range including a position of the target object close to a position of the present own vehicle, selects positions of the target object included in the trajectory generation range among the plural positions of the target object, as target object positions for trajectory generation, and generates a trajectory of the target object based on the target object positions for trajectory generation.