Virtual Envelope Velocity Control for Shared-Path Autonomous Vehicles
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Solution Overview
Problem
Autonomous vehicles operating in shared environments face challenges in avoiding collisions due to the lack of effective velocity control mechanisms, particularly when multiple vehicles share the same path or approach intersections simultaneously.
Innovation Solution
The generation of a virtual envelope around an autonomous vehicle, which has dimensions greater than the vehicle itself, is used to control its velocity based on predefined travel duration, obstacles, and precedence rules, allowing for dynamic adjustment and expansion or contraction to prevent collisions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If autonomous vehicles travel at high velocity in shared environments, then productivity is improved, but collision risk increases
Solution Approach 1:
The system performs preliminary actions by generating the virtual envelope around the autonomous vehicle before actual movement occurs. This virtual envelope predicts the future trajectory and potential collision zones, allowing the vehicle to adjust velocity proactively rather than reactively, thus maintaining high speed while preventing collisions
Solution Approach 2:
The virtual envelope acts as an intermediary between the autonomous vehicle and other vehicles/environments. Instead of direct vehicle-to-vehicle interaction or sensor-based detection, the virtual envelope mediates by representing the vehicle's projected space occupation, enabling safe high-velocity travel through predictive spatial boundaries
2Reliability
If the virtual envelope dimensions are increased to improve collision detection, but this increases computational complexity
Solution Approach 1:
The virtual envelope is segmented into manageable dimensional components (length, width, height) that can be independently calculated and adjusted. This segmentation allows the system to handle complex spatial relationships through simpler, modular computations rather than attempting to process the entire envelope as a single complex object
Solution Approach 2:
The system dynamically changes parameters of the virtual envelope (dimensions, position, orientation) based on real-time vehicle state and environmental factors. By adjusting these parameters rather than recalculating the entire envelope structure, the system maintains high collision detection capability while reducing computational burden
Data Source
AI summary
An example method includes obtaining information about a path that an autonomous vehicle is to travel during movement of the autonomous vehicle through an environment, and generating a virtual envelope that surrounds the autonomous vehicle and that has at least two dimensions that are greater than two corresponding dimensions of the autonomous vehicle. A length of the virtual envelope along the path is based on at least one of (i) a predefined duration that the autonomous vehicle can travel along the path or (ii) a duration that the autonomous vehicle can travel along the path without stopping. A velocity of the autonomous vehicle is based on the virtual envelope.