Autonomous Driving Switching Logic for Emergency Maneuvers
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Solution Overview
Problem
Existing autonomous driving systems fail to effectively handle emergency situations when switching from autonomous driving to manual driving, as they do not adequately account for the driver's intention to avoid obstacles or change routes, leading to inadequate vehicle control during state transitions.
Innovation Solution
An autonomous driving device that monitors steering operations and decelerates the vehicle when a specific threshold value is exceeded, allowing for a controlled switch from autonomous driving to manual driving, thereby enabling the driver to manage emergency situations by starting manual driving at a lower speed.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the driving state is switched from autonomous driving to manual driving based on a steering operation threshold, then the driving state switching is simplified, but the system cannot cope with emergency situations requiring urgent avoidance
Solution Approach 1:
The patent segments the driving state switching process into two distinct modes: ordinary switching (route change) and emergency switching (obstacle avoidance). This is achieved by dividing the switching logic into multiple determination units that evaluate different conditions (steering angle threshold vs. steering angle change rate threshold), allowing the system to select the appropriate switching mode based on the situation. This segmentation resolves the contradiction by maintaining simple operation for routine changes while enabling reliable emergency response when needed.
Solution Approach 2:
The patent applies dynamics by making the switching criteria adaptive rather than fixed. The system dynamically adjusts the switching behavior based on real-time conditions: it uses a first threshold for ordinary route changes and a second threshold (with higher weight on change rate) for emergency avoidance. This dynamic adaptation allows the same steering operation to trigger different switching responses depending on the urgency, resolving the contradiction between simple operation and reliable emergency handling.
2Productivity
If the vehicle maintains autonomous driving speed during state switching, then productivity is maintained, but the driver cannot safely take control in emergency situations
Solution Approach 1:
The patent applies preliminary action by preparing the vehicle for emergency manual driving before the actual state switching occurs. When emergency conditions are detected (steering angle change rate exceeds the second threshold), the system预先 (in advance) reduces the vehicle speed to a lower safe speed and notifies the driver, ensuring that by the time manual driving begins, the vehicle is already in a safer state. This preliminary speed reduction resolves the contradiction between maintaining productivity and ensuring safe transition.
3Device complexity
If only a single threshold value is used for steering operation, then the control logic is simplified, but the system cannot distinguish between ordinary route changes and emergency avoidance
Solution Approach 1:
The patent resolves the contradiction by adding another dimension to the control logic: instead of using only a single threshold value (one-dimensional), it introduces a second threshold that weights the steering angle change rate more heavily. This dimensional expansion allows the system to distinguish between ordinary route changes (gradual steering) and emergency avoidance (sudden steering) while maintaining relatively simple control logic through clear threshold comparisons.
Data Source
AI summary
An autonomous driving device includes an acquisition unit configured to acquire a value corresponding to a steering operation during an autonomous driving, and a control unit configured to perform the autonomous driving and to control switching of a driving state between the autonomous driving and a manual driving. In a case where a first value corresponding to the steering operation is equal to or greater than a first threshold value and a second value corresponding to the steering operation before the driving state is switched from the autonomous driving in progress to the manual driving is equal to or greater than a second threshold value, the control unit decelerates the vehicle and switches the driving state from the autonomous driving in progress to the manual driving.