Autonomous Driving Assistance Device Trajectory Control
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Solution Overview
Problem
Existing autonomous driving assistance systems generate inappropriate control trajectories when a vehicle deviates from its preset route, leading to ineffective execution of assistance, especially during lane changes or when sharp turns are not required.
Innovation Solution
The system sets a target travel trajectory and a control target point ahead of the vehicle's current position based on the type of assistance being executed, generating a control trajectory that avoids sharp turns and frequent angle changes, ensuring continuous and appropriate autonomous driving assistance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a fixed target waypoint is set within a predetermined range from the vehicle's current position regardless of assistance type, then the vehicle can return to the target travel trajectory, but a new travel route with sharp turns may be generated that is inappropriate for certain autonomous driving assistance types
Solution Approach 1:
The patent applies dynamics by making the target waypoint setting adaptive rather than fixed. The control target point is dynamically determined based on the type of autonomous driving assistance being executed (lane keeping vs. lane change). For lane keeping assistance, the control target point is set closer to the vehicle, while for lane change assistance, it is set farther away, allowing the system to adapt its behavior to different operational contexts.
Solution Approach 2:
The patent changes the parameter of control target point distance based on the assistance type. By modifying this key parameter according to whether lane keeping or lane change assistance is active, the system generates appropriate control trajectories without sharp turns that would be inappropriate for certain assistance types.
2Manufacturing precision
If a new travel route is generated to return the vehicle to the target travel trajectory, then the vehicle can correct its position, but frequent changes in bearing and sharp turns may occur that are not appropriate for continuous autonomous driving assistance
Solution Approach 1:
The patent changes the parameter of control target point distance based on assistance type to balance trajectory accuracy and driving smoothness. For lane keeping assistance, a closer control target point ensures accurate trajectory following, while for lane change assistance, a farther control target point enables smoother, more gradual directional changes.
Solution Approach 2:
The system dynamically adjusts the control target point positioning based on the active assistance type, enabling the trajectory generation to be both accurate and smooth. This dynamic adaptation prevents frequent bearing changes and sharp turns while maintaining appropriate trajectory following for each assistance mode.
3Adaptability or versatility
If the control target point is set to a position ahead of the vehicle based on assistance type, then appropriate control trajectories can be generated, but the system complexity increases due to multiple assistance type considerations
Solution Approach 1:
The patent implements a dynamic control target point setting mechanism that adapts to different assistance types. The navigation device determines the assistance type (lane keeping or lane change) and accordingly positions the control target point at an appropriate distance ahead of the vehicle, enabling versatile assistance without excessive complexity through clear conditional logic.
Data Source
AI summary
Autonomous driving assistance devices, methods and programs generate assistance information to be used in autonomous driving assistance that is executed in a vehicle. The devices, methods and programs set a target travel trajectory that is an aimed travel trajectory for a road on which the vehicle travels and set a control target point to a position that is located on the target travel trajectory and ahead of a trajectory generation start point in a direction in which the vehicle is traveling based on a type of autonomous driving assistance being executed in the vehicle. The devices, methods and programs generate a control trajectory to be followed by the vehicle by using a trajectory from the trajectory generation start point to the control target point.