Collision Avoidance Steering Under Lane-Keeping Thresholds
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing automatic collision avoidance systems in autonomous vehicles face challenges in fulfilling safety regulations, particularly in avoiding collisions without leaving the ego-lane, requiring extensive data collection and real-world monitoring to ensure low risk.
Innovation Solution
A method for determining whether an automatic collision avoidance steering maneuver should be executed by evaluating a predicted vehicle trajectory's attainable lateral acceleration and jerk against predefined thresholds, and considering a lateral offset to ensure compliance with safety regulations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If an automatic collision avoidance steering maneuver is executed to avoid collisions, then collision avoidance capability is improved, but the vehicle may leave the ego-lane violating safety regulations
Solution Approach 1:
The system performs preliminary evaluation of the predicted vehicle trajectory before executing the collision avoidance maneuver. It calculates whether the trajectory satisfies lane keeping conditions (lateral position and lateral acceleration thresholds) in advance, ensuring that the maneuver will not cause lane departure before the actual maneuver is executed
Solution Approach 2:
The system introduces an intermediary evaluation mechanism that acts as a mediator between the collision avoidance maneuver and the lane keeping requirement. This evaluation module assesses the predicted trajectory against predefined thresholds and only allows execution if the maneuver satisfies both collision avoidance and lane keeping conditions
2Object-affected harmful factors
If strict lane keeping constraints are enforced to comply with safety regulations, then regulatory compliance is improved, but collision avoidance capability is reduced
Solution Approach 1:
The system changes the evaluation parameters from binary lane keeping (must not leave lane) to threshold-based assessment (lateral position and lateral acceleration thresholds). This allows the system to evaluate whether a collision avoidance maneuver will cause lane departure by comparing predicted trajectory parameters against predefined thresholds, enabling more flexible decision-making
3Reliability
If extensive data collection and real-world monitoring are performed to ensure safety, then safety regulation fulfillment is improved, but system complexity and time requirements increase
Solution Approach 1:
The system performs preliminary evaluation of the predicted trajectory using predefined thresholds for lateral position and lateral acceleration. This pre-evaluation approach eliminates the need for extensive real-world monitoring and data collection, as the safety assessment is done in advance through computational analysis of the predicted maneuver parameters
Data Source
AI summary
A method for determining whether an automatic collision avoidance steering maneuver for a vehicle equipped with an automated driving system should be executed is disclosed. The method includes: obtaining a predicted vehicle trajectory for execution of the collision avoidance steering maneuver, wherein the predicted vehicle trajectory comprises a predicted lateral acceleration and a predicted lateral jerk of the vehicle; obtaining a first threshold of attainable lateral acceleration and a second threshold of attainable lateral jerk of the vehicle; determining whether the predicted vehicle trajectory is attainable by comparing the predicted lateral acceleration with the first threshold and the predicted lateral jerk with the second threshold; if yes, communicating that the automatic collision avoidance steering maneuver shall be executed; if not, determining a lateral offset of the vehicle based on the predicted lateral acceleration and the predicted lateral jerk of the predicted vehicle trajectory and the first and second threshold.