Automated Driving Controller Route Change Stability
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Solution Overview
Problem
Conventional vehicle control systems face instability during automated driving, particularly when changing routes, due to varying inter-vehicle distances, shielded areas, and vehicle behaviors, which can lead to unsafe lane changes and reduced automation levels.
Innovation Solution
A vehicle control apparatus and method that employs a recognizer to assess the surrounding environment and a driving controller to manage speed and steering, allowing for more stable driving by limiting route changes in a second driving state with higher automation and fewer occupant tasks, based on recognized inter-vehicle distances, shielded areas, vehicle speeds, and predicted behaviors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If route change is executed in the second driving state with higher automation, then automation level is improved, but driving stability deteriorates due to varying inter-vehicle distances and shielded areas
Solution Approach 1:
The system changes the operational parameters for route change execution based on the driving state. In the second driving state with higher automation, the system imposes stricter parameters by limiting route changes to cases where the deceleration amount is below a threshold, whereas the first driving state allows more flexible route changes. This parameter adjustment resolves the contradiction by adapting the automation level to match environmental safety conditions.
Solution Approach 2:
The system dynamically adjusts the route change execution policy based on real-time recognition of surrounding environment, inter-vehicle distance, and shielded area. The driving state transitions between first and second states, and the route change permission dynamically switches between restricted and unrestricted modes, creating a dynamic control system that balances automation with stability.
2Stability of the object's composition
If route change is restricted in the second driving state, then driving stability is improved, but automation versatility deteriorates
Solution Approach 1:
The system segments the driving environment into different zones based on shielded area recognition. Route changes are restricted only in areas with large shielded areas where visibility is poor, while allowing route changes in areas with small shielded areas where the environment is clearly recognizable. This spatial segmentation maintains stability in critical zones while preserving automation versatility in safe zones.
Solution Approach 2:
The system applies different control qualities to different spatial locations. In regions with large shielded areas, the system applies restrictive control quality to prevent unsafe route changes. In regions with small shielded areas and good visibility, the system applies permissive control quality that allows automated route changes. This local differentiation resolves the contradiction between stability and versatility.
3Adaptability or versatility
If inter-vehicle distance varies during route change, then adaptability is improved, but measurement precision deteriorates due to shielded areas
Solution Approach 1:
The system performs preliminary recognition of shielded areas before executing route changes. When a large shielded area is detected ahead, the system preemptively restricts route change execution or requires additional deceleration, preventing measurement errors from affecting safety. This preliminary anti-action counteracts the potential negative effect of poor measurement precision in shielded areas.
Solution Approach 2:
The system performs preliminary assessment of the surrounding environment and shielded areas before allowing route changes in the second driving state. By evaluating the recognition precision conditions in advance, the system ensures that route changes only occur when measurement precision is sufficient, thereby maintaining both adaptability and measurement accuracy.
4Adaptability or versatility
If route change is allowed in the first driving state, then operational flexibility is improved, but safety deteriorates due to higher occupant task requirements
Solution Approach 1:
The system uses a threshold-based deceleration criterion as a simple, disposable safety check for route changes in the second driving state. Rather than implementing complex safety verification systems, the system applies a straightforward rule: if the required deceleration exceeds the threshold, route change is restricted. This simple mechanism provides adequate safety for high-automation operations.
Solution Approach 2:
The system continuously monitors the surrounding environment, inter-vehicle distance, and shielded area recognition results, and uses this feedback to dynamically adjust route change permissions. When feedback indicates poor recognition conditions or unsafe distances, the system automatically restricts route changes, thereby maintaining safety while allowing operational flexibility when conditions are favorable.
Data Source
AI summary
A vehicle control apparatus of an embodiment includes a recognizer which recognizes a surrounding environment of a host vehicle, and a driving controller which controls one or both of a speed and steering of the host vehicle on the basis of a recognition result of the recognizer to perform driving control, wherein the driving controller performs the driving control in at least any of a first driving state and a second driving state having a higher rate of automation or fewer tasks requested for an occupant of the host vehicle than the first driving state, and an operation environment in which route change of the host vehicle in the second driving state is executed is limited as compared to a case of the first driving state.