Automated Driving Control for Lane Edge Collision Avoidance
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Solution Overview
Problem
Automated driving vehicles face challenges in maintaining riding comfort when avoiding sudden movements of stopped vehicles re-entering the lane, often resulting in large braking or steering forces, which deteriorate the comfort of vehicle occupants.
Innovation Solution
A vehicle control device equipped with an external environment recognition unit, condition determination unit, and control unit that assesses conditions such as lane width, road shoulder width, presence of turnout areas, and relative vehicle positions to anticipate and avoid potential collisions by adjusting vehicle speed, inter-vehicle distance, travel position, lane changing, warning, or requesting manual driving.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the vehicle control device controls the host vehicle at the time of detection of sudden travel start of another vehicle, then collision avoidance is achieved, but large braking force or steering quantity is generated resulting in deterioration of riding comfort
Solution Approach 1:
The control unit performs preliminary action by controlling the host vehicle in advance based on recognition of another vehicle stopped at the road side, before the sudden travel start occurs. This allows the host vehicle to be positioned to avoid collision without requiring large braking force or steering quantity when the other vehicle actually enters the lane.
2Object-affected harmful factors
If the host vehicle maintains current travel position, then riding comfort is maintained, but collision risk increases when another vehicle suddenly enters the lane
Solution Approach 1:
The control unit performs preliminary action by controlling the host vehicle in advance based on recognition of another vehicle stopped at the road side, before the sudden travel start occurs. This allows the host vehicle to be positioned to avoid collision without requiring large braking force or steering quantity when the other vehicle actually enters the lane.
3Reliability
If the control unit performs advance control to avoid other vehicle, then collision avoidance is achieved, but notification to vehicle occupant is not provided
Solution Approach 1:
The control unit provides feedback to the vehicle occupant by notifying them of the reason when advance control is performed. This maintains vehicle occupant awareness of the automated driving system's actions while still achieving collision avoidance through preliminary control measures.
Data Source
AI summary
A surroundings recognition unit recognizes the road environment and traffic participants around the host vehicle. A condition satisfaction determination unit determines whether or not first to fifth conditions are satisfied, on the basis of recognition results from the surroundings recognition unit. When causing the host vehicle to travel in a lane of a traveling road adjacent to the edge of the traveling road, a control unit changes travel control content and/or notification control content relating to automated driving, depending on whether or not the first to fifth conditions are satisfied.