Autonomous Driving Speed Planning Around Blind Spot Handover
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Solution Overview
Problem
In autonomous driving systems, blind spots can lead to increased operator burden due to frequent remote control requests and insufficient determination time, resulting in sudden deceleration and safety disruptions.
Innovation Solution
An on-vehicle autonomous driving control device and remote support system that determines whether a speed plan can be generated to allow deceleration at a predetermined allowable rate, delaying remote control requests until the vehicle reaches a blind spot elimination position, thereby reducing operator burden and avoiding sudden deceleration.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If remote control requests are sent frequently when there is a blind spot, then the vehicle safety is improved, but the operator burden increases
Solution Approach 1:
The system performs preliminary determination of remote control necessity before the vehicle actually reaches the blind spot elimination position. By calculating whether remote control is needed in advance and providing determination time to the operator before the vehicle arrives at the critical position, the system reduces sudden operator interventions while maintaining safety.
2Ease of operation
If determination of remote control necessity is made based on actually detected information, then the operator burden is reduced, but insufficient determination time is given to the remote operator
Solution Approach 1:
The system calculates the blind spot elimination position in advance and determines remote control necessity before the vehicle reaches that position. This preliminary determination provides the operator with sufficient time to assess the situation and prepare for potential remote control operations, avoiding last-minute decisions.
Solution Approach 2:
The system dynamically adjusts the determination timing based on vehicle speed and distance to the blind spot elimination position. By considering the actual vehicle state and calculating appropriate determination time windows, the system ensures operators receive adequate preparation time while adapting to real-time driving conditions.
3Measurement precision
If the vehicle waits for remote control start, then remote control accuracy is improved, but sudden deceleration control reduces vehicle safety and disrupts traffic flow
Solution Approach 1:
The system performs preliminary determination of remote control necessity and calculates speed plans in advance, before the vehicle reaches the blind spot elimination position. This allows smooth deceleration planning rather than sudden braking, as the vehicle can gradually reduce speed according to a pre-calculated profile while maintaining safety.
Solution Approach 2:
The system changes the timing parameter of remote control request transmission by sending requests based on calculated determination time windows rather than immediate detection. This parameter adjustment allows the vehicle to maintain smoother motion profiles while still ensuring accurate remote control intervention when needed.
Data Source
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AI summary
At least one processor (42) of a vehicle (10) is configured to execute at least one program to: generate a speed plan for a first travel route (RT1) from a blind spot elimination position (Pa) to a position specified by a control standby condition, the speed plan specifying a speed of the vehicle for a position on the first travel route so as to meet a requirement that the vehicle be decelerated at a predetermined allowable deceleration or less for a predetermined time from the blind spot elimination position to satisfy the control standby condition; and instruct, for a second travel route (RT2) from a current position of the vehicle to the blind spot elimination position, the vehicle to travel along the second travel route by autonomous driving so as to cause the vehicle to reach a speed specified by the speed plan at the blind spot elimination position.