Autonomous Driving Longitudinal Acceleration for Smooth Lane Changes
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Autonomous driving systems face challenges in setting a target longitudinal acceleration that ensures safe and comfortable driving, particularly when other road users engage in unsafe maneuvers, leading to jerky behavior and difficulty in maintaining human-like driving dynamics.
Innovation Solution
A computer-implemented method and apparatus that determine a target longitudinal acceleration for a host vehicle by defining a lateral range with sub-ranges and a longitudinal range, adjusting acceleration values based on the vehicle's position within these ranges relative to a leading vehicle, to smoothly manage lane changes and maintain safe distances.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a fixed target longitudinal acceleration is set for autonomous driving, then the control logic is simple, but the driving behavior becomes jerky and uncomfortable when other road users perform unsafe maneuvers
Solution Approach 1:
The patent applies dynamics by making the target longitudinal acceleration variable rather than fixed. The acceleration value dynamically adjusts based on the lateral position of the leading vehicle relative to the host vehicle's lane. When the leading vehicle is detected in adjacent lanes, the system dynamically modifies the acceleration profile to prevent jerky behavior, thereby maintaining both control simplicity and driving comfort under varying traffic conditions
Solution Approach 2:
The system changes the acceleration parameter based on the lateral position of the leading vehicle. By monitoring whether the leading vehicle is in the same lane, adjacent lane, or far from the host vehicle, the system adjusts the target longitudinal acceleration parameter accordingly. This parameter adaptation allows smooth acceleration behavior when lanes are clear while maintaining safety when other vehicles are present
2Reliability
If the autonomous driving system reacts strongly to unsafe maneuvers by other road users, then safety is improved, but driving comfort deteriorates due to jerky behavior
Solution Approach 1:
The patent applies local quality by differentiating the control response based on the specific lateral position of the leading vehicle. Instead of a uniform strong reaction to all unsafe maneuvers, the system applies localized acceleration adjustments: moderate acceleration when the leading vehicle is in adjacent lanes, reduced acceleration when close to the host vehicle's lane, and normal acceleration when the leading vehicle is far away. This localized approach maintains safety while preserving driving comfort
3Adaptability or versatility
If the lateral range is increased to account for lane changes, then the system becomes more adaptive to lane change maneuvers, but the acceleration control becomes overly conservative
Solution Approach 1:
The patent applies partial action by selectively applying acceleration restrictions only in specific lateral position scenarios. Instead of completely limiting acceleration when any leading vehicle is detected, the system applies partial acceleration profiles based on how far the leading vehicle is from the host vehicle's lane. When the leading vehicle is in distant adjacent lanes, the system allows near-full acceleration, thereby maintaining productivity while still providing adaptive lane change behavior
Data Source
Figure 1A~1B
Figure 2A~2B
Figure 3
AI summary
A method of setting a target longitudinal acceleration of a vehicle travelling along a road behind a leading vehicle, comprising: determining (S61) a lateral position of the leading vehicle; defining (S62) a lateral range extending from the leading vehicle and having a first subrange, a second subrange and a central subrange therebetween, wherein the lateral range increases with lateral distance of the leading vehicle from a centre of a lane in which the leading vehicle is located when the leading vehicle is changing lane; determining (S63) a longitudinal range extending behind the leading vehicle; and setting the target longitudinal acceleration, for any longitudinal position of the host vehicle within the longitudinal range, to: a first value if a lateral position of the host vehicle is within the central subrange; and a second value greater than the first value if the lateral position is within the first or second subrange.