Automated Vehicle Merging via Intent Communication
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Solution Overview
Problem
Current systems for automated vehicles cannot perform merging maneuvers when there is no suitable gap between road users on an adjacent lane, as they rely on trajectory planning that fails in such traffic situations.
Innovation Solution
A system that detects other road users using sensors like cameras, radar, or lidar, and guides them to yield by mimicking human driving intentions, such as matching velocity or lateral positioning, to create a gap for the automated vehicle to merge safely, while evaluating and selecting guidance actions to ensure safe merging without collisions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If trajectory planning is used for merging maneuvers, then merging can be performed when a suitable gap exists, but merging cannot be performed when no suitable gap exists between road users
Solution Approach 1:
The automated vehicle acts as an intermediary by communicating its merging intention to other road users through specific guidance actions (longitudinal positioning, lateral positioning, velocity matching). This communication enables other road users to yield, creating a gap that allows the merging maneuver to succeed even when no initial gap exists.
Solution Approach 2:
The system performs preliminary actions by positioning the automated vehicle in specific locations and velocities before the actual merging maneuver. These preliminary guidance actions are designed to trigger a yielding response from other road users, preparing the environment for successful merging before the vehicle actually attempts to change lanes.
2Adaptability or versatility
If the automated vehicle communicates merging intention to other road users, then merging can be achieved in tight traffic, but the system complexity increases
Solution Approach 1:
The system changes key parameters such as longitudinal position, lateral position, and velocity to communicate merging intention. By systematically varying these parameters in specific patterns, the automated vehicle conveys its intent to other road users without requiring complex communication protocols or additional hardware.
Solution Approach 2:
The system continuously monitors the responses of other road users and adjusts its guidance actions accordingly. This feedback mechanism allows the automated vehicle to adapt its merging strategy in real-time, maintaining simplicity while effectively managing complex traffic situations through iterative adjustment of basic vehicle parameters.
Data Source
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AI summary
An aspect of the invention describes a system for performing a merging maneuver of an automated vehicle, with the automated vehicle merging from a current lane into an adjacent lane, with the merging maneuver requiring at least one other road user on the adjacent lane to yield to the automated vehicle. Said system is configured to detect the at least one other road user on the adjacent lane; guide the automated vehicle in such a way that the at least one other road user understands that the automated vehicle intends to merge in front of the at least one other road user; determine if the at least one other road user yields to the automated vehicle and guide the automated vehicle to merge in front of the at least one other road user, if it is determined that the at least one other road user yields to the automated vehicle.