Autonomous Driving Controller for Obstacle Avoidance Handover
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Solution Overview
Problem
When a driver operates the accelerator or brakes during autonomous driving, steering control may be delayed if the driver's hand is not on the steering wheel, leading to uncontrolled vehicle steering and potential obstacle avoidance failures.
Innovation Solution
A controller that determines driver speed and steering operations during obstacle avoidance and switches from automatic to manual control for speed when necessary, while maintaining automatic steering control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If automatic control switches to manual control when driver operates accelerator or brakes during obstacle avoidance, then driver can control speed, but steering control becomes uncontrolled and obstacles cannot be avoided
Solution Approach 1:
The control system is segmented into independent steering control and speed control channels. During obstacle avoidance, the steering control remains in automatic mode while speed control can switch to manual mode, allowing each function to operate independently in its optimal control mode.
Solution Approach 2:
The control mode switching is made dynamic and selective rather than uniform. The system dynamically determines which control function (steering or speed) should switch based on the specific operational context, allowing the steering to remain automatic during obstacle avoidance while permitting manual speed control.
2Extent of automation
If driver's hand is not on steering wheel during automatic obstacle avoidance, then autonomous driving is maintained, but steering operation is delayed when driver needs to control
Solution Approach 1:
The system performs preliminary assessment of driver intent and operational context before switching control modes. By detecting accelerator or brake operations in advance during obstacle avoidance, the system prepares for potential manual intervention while maintaining automatic steering control.
Solution Approach 2:
The control system changes operational parameters selectively - maintaining automatic steering control parameters while allowing manual speed control parameters to take effect. This parameter differentiation allows the system to respond to driver input without losing steering control during critical obstacle avoidance maneuvers.
Data Source
AI summary
A controller that switches between (i) autonomous driving control for causing a vehicle to travel by automatically controlling the steering and speed of the vehicle and (ii) manual driving control in which the steering and speed are controlled by a driver's operation, the controller includes: a determination part that determines whether a speed control operation for controlling the speed has been performed by the driver while an obstacle preventing the vehicle from traveling is being avoided under the autonomous driving control; and a control switching part that switches the automatic control of the speed included in the autonomous driving control to the manual control and continues the automatic control of the steering when it is determined that the speed control operation has been performed.