Autonomous Route Rule Adaptation for Short Gap Lane Changes
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Solution Overview
Problem
Existing autonomous driving systems fail to adapt their control rules to changing traveling situations, particularly in areas where inter-vehicle distances become shorter than the minimum control permission distance, leading to potential deviations from traveling rules and inability to perform necessary course changes.
Innovation Solution
An autonomous driving apparatus that determines a deviation value for candidate routes based on inter-vehicle distance and minimum control permission distance, selects a target route within a control permission range, and updates control rules in response to sensor changes, ensuring compliance with traveling rules in varying situations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the autonomous driving system maintains a fixed minimum control permission distance, then the control rules are simple and stable, but the system cannot adapt to changing traveling situations where inter-vehicle distances become shorter
Solution Approach 1:
The patent implements dynamic adjustment of the minimum control permission distance based on detected traveling situations. The control rule determination unit changes the minimum control permission distance according to the detected traveling situation, transforming a static parameter into a dynamic one that adapts to varying inter-vehicle distances and traffic conditions.
Solution Approach 2:
The system changes the parameter of minimum control permission distance based on detected traveling situations. When the traveling situation changes (e.g., inter-vehicle distance becomes shorter), the system adjusts the minimum control permission distance parameter accordingly, allowing the autonomous vehicle to adapt to different traffic conditions while maintaining safe operation.
2Reliability
If the system strictly enforces the minimum control permission distance, then traveling rule compliance is maintained, but the vehicle cannot perform necessary course changes in congested areas
Solution Approach 1:
The control rule determination unit dynamically adjusts the minimum control permission distance based on detected traveling situations. When congestion is detected and course changes are necessary, the system modifies the control rules to permit temporary deviations, enabling the vehicle to navigate congested areas while maintaining overall rule compliance.
Solution Approach 2:
The system continuously detects the traveling situation and provides feedback to the control rule determination unit. Based on this feedback about inter-vehicle distances and traffic conditions, the system adjusts the minimum control permission distance and control rules in real-time, allowing necessary course changes while maintaining safety and compliance.
3Adaptability or versatility
If the system uses a fixed determination rule for deviation values, then the control logic is simple, but the system cannot respond to sensor changes and evolving traveling conditions
Solution Approach 1:
The determination rule is implemented as a dynamic entity that changes in response to sensor detections. The control rule determination unit receives sensor data about traveling situations and adjusts the determination rule accordingly, allowing the system to adapt to sensor changes and evolving conditions rather than using a fixed rule.
Solution Approach 2:
The system uses sensor feedback to continuously update the determination rule. When sensors detect changes in traveling situations (such as inter-vehicle distance changes), the feedback is processed by the control rule determination unit, which then modifies the determination rule to reflect current conditions, enabling adaptive response to sensor changes.
Data Source
AI summary
An autonomous driving apparatus, which is used in a subject vehicle capable of performing an autonomous driving, is configured to: determine a deviation value of each of one or more candidate routes, which indicates a possibility of the subject vehicle deviating from a traveling rule when the subject vehicle travels the corresponding candidate route, based on a comparison result between an inter-vehicle distance and a minimum control permission distance; select one candidate route having the deviation value within a control permission range as a target route; output an instruction for controlling the subject vehicle to travel along the selected target route; execute a traveling control of the subject vehicle according to the instruction; and update a determination rule of the deviation value in response to a change in a sensor that detects a behavior of at least one of the subject vehicle or the peripheral vehicle.