Vehicle Steering Trajectory Planning Within Actuator-Limited Search Spaces
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Solution Overview
Problem
Existing vehicle control systems face challenges in efficiently planning trajectories that account for actuator limitations and dynamics, leading to deviations from desired paths and increased computing effort, particularly in model-predictive approaches.
Innovation Solution
A method for controlling a vehicle's trajectory by defining a search space for manipulated variables based on actuator limits, using a control device to plan trajectories within this space, which separates actuator dynamics from the planning process, allowing for reduced computing effort and improved navigation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If model-predictive approaches are used to account for actuator dynamics and limitations in trajectory planning, then the accuracy of trajectory adherence is improved, but the computing effort increases extremely
Solution Approach 1:
The patent segments the trajectory planning process into two distinct parts: a planning stage that generates reference trajectories without detailed actuator dynamics, and a control stage that handles actuator-specific dynamics and limitations. This segmentation allows the computationally intensive actuator modeling to be separated from the real-time trajectory planning, reducing the computing effort required during planning while maintaining trajectory adherence accuracy through the subsequent control stage.
Solution Approach 2:
The patent introduces an intermediary component that acts as a bridge between the trajectory planner and the actuator control. This intermediary processes the reference trajectory and generates control commands that account for actuator dynamics without requiring the planner to directly model complex actuator behavior. This intermediary layer enables accurate trajectory following while keeping the planning computation manageable.
2Reliability
If complex models accounting for actuator dynamics are integrated into the planning process, then the reliability of trajectory execution is improved, but the device complexity increases
Solution Approach 1:
The system segments functionality between a simplified planning module and a more complex control module. The planner generates reference trajectories using simplified models, while the control module handles the complex actuator dynamics. This segmentation reduces the complexity of the planning system while maintaining execution reliability through the dedicated control stage that processes actuator-specific considerations.
Solution Approach 2:
The patent extracts the complex actuator dynamics modeling from the trajectory planning process and places it in a separate control stage. This extraction allows the planning system to remain relatively simple while still achieving reliable trajectory execution through the subsequent control processing that incorporates detailed actuator behavior.
Data Source
AI summary
A method for controlling a vehicle along a trajectory, in which the vehicle has a control device which plans the trajectory within a definable search space of the trajectory and can access actuators of the vehicle in order to control the vehicle, wherein at least one limit value is determined for at least one manipulated variable of an actuator, and a search space of the manipulated variable is defined on the basis of the at least one limit value, wherein the search space is used to plan the trajectory.