Vehicle Trajectory Planning Minimizing Lateral Jerk
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Solution Overview
Problem
Existing vehicle collision avoidance systems based on single target approaches are inadequate for assessing combined threats from multiple objects, leading to difficulties in determining smooth and effective trajectories to avoid collisions, as they often result in unrealistic lateral acceleration changes and non-smooth escape paths.
Innovation Solution
A method using processing means and sensor or communication systems to identify external objects, generate valid trajectories, remove intersecting paths, estimate lateral position, velocity, acceleration, and jerk, and select trajectories with minimized lateral jerk, allowing the vehicle to pass multiple objects with a preselected safety distance while maintaining smoothness and comfort.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If piecewise constant lateral acceleration is used for threat assessment, then the assessment can be simplified, but the lateral control becomes unrealistic since lateral acceleration cannot change instantly
Solution Approach 1:
The trajectory is divided into multiple spline segments connected by spline breakpoints. Each segment can be independently optimized for smoothness while collectively forming a realistic avoidance path. This segmentation allows the system to maintain computational simplicity while achieving continuous and realistic lateral acceleration profiles.
Solution Approach 2:
The patent transitions from static piecewise constant acceleration to dynamic continuous spline functions. The spline segments with adjustable breakpoints enable the lateral acceleration to change smoothly over time, reflecting the dynamic constraints of actual vehicle motion while maintaining computational tractability.
2Adaptability or versatility
If multiple trajectories are generated to pass external objects, then collision avoidance options increase, but the computational complexity increases
Solution Approach 1:
Instead of generating all possible trajectories, the system generates a sufficient number of candidate trajectories using spline segments. The breakpoints are strategically placed to capture the essential avoidance paths without exhaustively exploring every possible trajectory, achieving a balance between comprehensiveness and computational efficiency.
Solution Approach 2:
The system varies parameters such as spline breakpoint positions and segment configurations to generate diverse trajectories. By adjusting these parameters, the system can explore multiple avoidance options while maintaining a manageable computational burden through efficient parameter optimization.
3Ease of operation
If trajectories with minimal lateral jerk are selected, then ride comfort is improved, but the trajectory generation becomes more complex
Solution Approach 1:
The spline breakpoints and segment parameters are pre-configured to inherently minimize lateral jerk. By designing the trajectory structure with smooth transitions built-in from the beginning, the system avoids complex post-processing optimization while ensuring ride comfort is maintained throughout the avoidance maneuver.
Solution Approach 2:
The system uses standardized spline segment templates that inherently possess smooth continuity properties. These pre-designed segments can be copied and combined with different breakpoint positions to generate multiple comfortable trajectories without重新 optimizing each trajectory's smoothness characteristics.
Data Source
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AI summary
A method and an arrangement are provided for determining a trajectory for a host vehicle H in order to as smoothly as possible avoid or mitigate a collision, using an arrangement comprising processing means (1) and at least one of a sensor system (2) or a communication system (3), where the method including the steps of identifying (101) the positions of one or more external objects in relation to the host vehicle H within a predefined distance, generating (102) a plurality of trajectories that are valid for enabling the host vehicle H to pass any desired number of external objects, removing (103) any trajectories intersecting with any one of the external objects, estimating (104) lateral position, lateral velocity, lateral acceleration and the lateral jerk that will act on the host vehicle H driving along any one of the trajectories, and selecting (105) the trajectory for which the lateral jerk acting on the host vehicle H is minimized.