Adaptive Lane Change Control for Narrow Approach Spaces
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Solution Overview
Problem
Existing vehicle travel control systems fail to account for various congestion conditions when changing lanes, particularly when the space for lane change is too small, leading to improper vehicle positioning and potential off-road deviations.
Innovation Solution
The system detects the shape of the approach space behind another vehicle in the target lane and sets a target posture for the vehicle based on predetermined conditions, allowing for precise motion control during lane changes, even in congested conditions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the vehicle changes lanes to follow the traffic congestion line, then the vehicle can maintain proper lane positioning, but the vehicle cannot enter the branch when the approach space is too small or the vehicle body would protrude into the adjacent lane
Solution Approach 1:
The system changes the target positioning parameters from a fixed position (directly behind the congestion line) to a variable position that adapts to the approach space shape. By detecting whether the approach space is narrow or wide, the system adjusts the target lateral position and orientation accordingly, allowing the vehicle to properly enter the branch lane even when space is constrained
Solution Approach 2:
The lane change control system transitions from a static control approach to a dynamic one by continuously detecting the approach space shape and adjusting the target position and vehicle orientation in real-time. This dynamic adaptation enables the vehicle to handle various congestion scenarios including narrow approach spaces where the vehicle body would otherwise protrude into the adjacent lane
2Device complexity
If the vehicle follows the traffic congestion line directly, then the lane change control is simple, but the vehicle body protrudes into the adjacent lane when the approach space is narrow
Solution Approach 1:
The system performs preliminary detection of the approach space shape before executing the lane change maneuver. By identifying narrow approach spaces in advance, the system pre-calculates the appropriate target position and vehicle orientation to prevent protrusion into the adjacent lane, ensuring safe lane change execution without requiring complex real-time adjustments
Data Source
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AI summary
The travel control device, when determining that the traffic congestion is occurred in the other lane, detects, behind another vehicle in the other lane, an approach space; determines whether the approach space meets a predetermined condition; when determining that the approach space meets the predetermined condition, sets the target posture of the own vehicle at the target position behind the other vehicle in the other lane based on the shape of the approach space; and generates a target traveling trajectory from a current position of the own vehicle to the target position. The travel control device controls the motion of the own vehicle so that the own vehicle tracks the target traveling trajectory.