Commercial Vehicle Turn Path Control for Lane-Safe Cornering
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Solution Overview
Problem
Conventional methods for controlling autonomous vehicles based on high-definition maps do not account for the larger size of commercial vehicles, leading to potential deviations from the driving lane and collisions during sharp turns.
Innovation Solution
A driving control method and apparatus that determine a second and third turning radius considering the vehicle's overall width and length, allowing for route correction to prevent lane deviation, using an information acquisition unit, route generator, and driving controller to adjust the route and ensure safe turning.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a conventional driving route based on high-definition map is used for commercial vehicles, then the route generation is simple and fast, but the vehicle deviates from the driving lane and collides with curbs or other vehicles during sharp turns
Solution Approach 1:
The system performs preliminary detection of turning sections ahead along the driving route and pre-calculates the required turning radius before the vehicle reaches the turn. This allows the route to be corrected in advance to account for the commercial vehicle's larger dimensions, preventing lane deviation and collisions before they occur.
Solution Approach 2:
The system dynamically adjusts the turning radius parameter based on the vehicle's actual dimensions and the detected road geometry. By calculating a corrected turning radius that is larger than the standard route's turning radius, the system ensures the vehicle can complete sharp turns without deviating from the driving lane, thus resolving the contradiction between route simplicity and turning safety.
2Reliability
If a larger turning radius is used for commercial vehicles, then lane deviation is prevented, but the turning space requirement increases and may not fit within standard road geometries
Solution Approach 1:
The system detects turning sections in advance and pre-calculates the appropriate turning radius before the vehicle reaches the turn. This preliminary action allows the vehicle to begin the turn earlier and with more space, accommodating the larger turning radius requirement without compromising road geometry constraints.
Solution Approach 2:
The system dynamically adjusts the turning radius based on real-time detection of road conditions, curvature, and vehicle position. By making the turning radius adaptive rather than fixed, the system optimizes the balance between preventing lane deviation and fitting within available road space, allowing the vehicle to use a larger turning radius only when and where necessary.
Data Source
AI summary
An embodiment driving control method includes determining whether a turning section is present ahead along a driving route of a host vehicle, determining a first turning radius with respect to a center of the host vehicle in response to determining that the turning section is present, determining, based on the first turning radius, a second turning radius required to prevent the host vehicle from deviating from a lane to an inside in a turning direction, determining a third turning radius with respect to an inner rear wheel in consideration of an overall width of the host vehicle, and controlling the host vehicle to travel along the driving route or to travel along a corrected route generated by correcting the driving route based on relative sizes of the second turning radius and the third turning radius.