Cooperative Vehicle Trajectory Planning With Threshold-Based Coordination
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Solution Overview
Problem
Current methods for cooperative maneuver planning between vehicles are inefficient in data transmission and stability, particularly in dynamic traffic situations, as they require direct confirmation and frequent data exchange for trajectory coordination.
Innovation Solution
A method and assistance system that select and transmit planned and desired trajectories based on cost functions, generating collision-free and cost-optimal trajectories, with optional trajectories that ignore other vehicles' plans, and adjust values like minimum cost reduction and maximum cost increase dynamically to reduce data volume and enhance system stability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If direct confirmation and frequent data exchange are used for trajectory coordination, then coordination accuracy is improved, but data transmission volume increases and system stability deteriorates
Solution Approach 1:
The patent extracts only the essential trajectory information (planned and desired trajectories with cost functions) from full vehicle data exchanges. By transmitting only relevant trajectory parameters rather than complete vehicle state data, the system achieves coordination accuracy while significantly reducing data transmission volume.
Solution Approach 2:
The system dynamically adjusts the frequency and detail of data exchange based on traffic situation changes. When cost differences between trajectories exceed thresholds, more frequent exchanges occur; otherwise, exchanges are reduced. This dynamic approach maintains coordination accuracy when needed while minimizing data transmission during stable conditions.
2Measurement precision
If direct confirmation and frequent data exchange are used for trajectory coordination, then coordination accuracy is improved, but system stability deteriorates
Solution Approach 1:
The patent implements feedback through cost function evaluations that compare planned versus desired trajectories. Each vehicle evaluates the cost difference and only initiates coordination exchanges when this difference exceeds a threshold, creating a stable feedback mechanism that maintains coordination accuracy while preventing excessive exchanges that would destabilize the system.
Solution Approach 2:
The system changes the parameter of data exchange frequency based on cost difference thresholds. When cost differences are small (stable situation), exchange frequency is reduced; when cost differences exceed thresholds (changing situation), frequency increases. This parameter adaptation maintains coordination accuracy while preserving system stability.
3Reliability
If collision-free trajectories considering all vehicles are generated, then safety is improved, but computational complexity increases
Solution Approach 1:
The patent segments the trajectory planning problem into individual vehicle cost function evaluations rather than computing all possible multi-vehicle trajectory combinations. Each vehicle independently evaluates its own planned and desired trajectories against others' published trajectories, dividing the complex computational problem into manageable segments that maintain safety through systematic collision checking.
4Adaptability or versatility
If vehicles transmit all trajectory information to all other vehicles, then coordination completeness is improved, but data transmission volume increases
Solution Approach 1:
The patent creates a universal trajectory information structure where each vehicle publishes its planned and desired trajectories with cost functions that serve multiple purposes: other vehicles use this information for both collision avoidance and for evaluating coordination opportunities. This multi-functional information structure achieves coordination completeness without redundant data transmission.
Data Source
AI summary
An assistance system/method for cooperative maneuver planning is taught, wherein in each vehicle, a planned trajectory and a desired trajectory are selected depending on a cost function; wherein a most economical first trajectory is generated which is free of collisions with planned and desired trajectories of other vehicles, and i) wherein a most economical second trajectory is generated which ignores planned and desired trajectories of other vehicles and is transmitted as a desired trajectory only if a cost difference between the first and the second trajectory is greater than a minimum cost reduction value, wherein additionally/alternatively to i), a most economical third trajectory is generated which is free of collisions with planned trajectories of other vehicles but ignores their desired trajectories, wherein a desired trajectory of another vehicle is accepted if a cost difference between the first and the third trajectory is less than a maximum cost increase value.