Automatic Driving System Traveling Plan Moderation
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Solution Overview
Problem
Automatic driving systems that automatically engage without user input can cause an uneasy sense in occupants due to unexpected changes in vehicle behavior, especially when the driver intends to continue manual driving.
Innovation Solution
An automatic driving system that generates a traveling plan to moderate the change in vehicle behavior at automatic engagement startup, compared to triggered engagement, by adjusting speed, distance, time, and route curvature, using an electronic control unit and actuator to control the vehicle based on this plan.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If automatic driving control is started by automatic engagement when predetermined conditions are satisfied, then the system can operate autonomously without user input, but the occupant may feel uneasy due to unexpected changes in vehicle behavior
Solution Approach 1:
The system changes the parameters of vehicle behavior at automatic engagement startup by moderating acceleration, deceleration, and steering angle changes. Specifically, the control unit limits the rate of change of these parameters compared to triggered engagement, creating a smoother transition that reduces occupant discomfort while maintaining automation capability
Solution Approach 2:
The system prepares cushioning measures in advance by pre-defining moderated behavior patterns for automatic engagement. When automatic engagement occurs, these pre-prepared moderate acceleration, deceleration, and steering profiles are activated to cushion the transition and prevent abrupt changes that would cause occupant unease
2Extent of automation
If automatic driving control is started by automatic engagement, then the system can begin autonomous operation automatically, but the driver may not have intended to switch to automatic mode and may want to continue manual driving
Solution Approach 1:
The system incorporates feedback mechanisms that monitor driver intent and vehicle state. When automatic engagement is activated, the system provides feedback to the driver about the mode change and continues to accept manual override inputs, allowing the driver to maintain control flexibility while the system operates in automatic mode if desired
3Productivity
If the vehicle behavior changes sharply at automatic engagement startup, then the system can quickly achieve optimal driving state, but the occupant experiences an uneasy sense
Solution Approach 1:
The system modifies the parameters of behavior change by imposing limits on acceleration rate, deceleration rate, and steering angle rate of change. These parameter constraints ensure that while the vehicle transitions to optimal driving state, the changes remain smooth and comfortable for the occupant rather than abrupt and startling
Data Source
AI summary
An automatic driving system includes at least one electronic control unit configured to: generate a traveling plan so as to moderate a change in behavior of a vehicle at a time when an automatic driving control of the vehicle is started by an automatic engagement compared to a change in the behavior of the vehicle at a time when the automatic driving control is started by a triggered engagement, the automatic engagement being an engagement in which the automatic driving control is automatically started when an automatic engagement condition is satisfied, the triggered engagement being an engagement in which the automatic driving control is started when an automatic driving start condition is satisfied and an automatic driving start trigger is input by an occupant; and execute the automatic driving control by controlling the behavior of the vehicle based on the traveling plan, using an actuator equipped in the vehicle.