Vehicle Drive Assist Obstacle Classification and Acceleration Control
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Solution Overview
Problem
Vehicle drive assist systems, such as ACC, often start unnecessary acceleration when a preceding vehicle changes lanes to avoid obstacles, causing discomfort for drivers and unintended cancellation of assist systems.
Innovation Solution
A vehicle drive assist system that includes front-environment recognition, preceding-vehicle recognition, running control, forward-obstacle recognition, obstacle specification, and sub-running control to limit acceleration based on the type of obstacle, preventing immediate acceleration when a preceding vehicle moves out of the lane or an obstacle is detected.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If acceleration control is immediately started when the preceding vehicle moves out of the traveling path, then the subject vehicle speed returns to the set vehicle speed quickly, but the driver experiences discomfort and may unnecessarily press the brake pedal
Solution Approach 1:
The system performs preliminary obstacle detection and classification before executing acceleration control. When a preceding vehicle moves out of the traveling path, the system first detects potential forward obstacles and classifies them using multiple recognition devices (stereo camera, monocular camera, millimeter-wave radar). Based on the classification result, the system decides whether to limit acceleration, preventing unnecessary acceleration that would cause driver discomfort.
2Adaptability or versatility
If the ACC system automatically cancels when the driver presses the brake pedal, then the system responds to driver intent, but the ACC is cancelled even when the driver只是想 avoid an obstacle by steering
Solution Approach 1:
The system uses feedback from multiple sensing devices to understand driver intent. When the driver presses the brake pedal, the system checks whether a forward obstacle is detected and classified. If an obstacle is present, the system determines that the driver is braking to avoid the obstacle rather than to cancel ACC, so the ACC continues. This feedback mechanism prevents unnecessary ACC cancellation while maintaining responsiveness to genuine driver intent.
3Measurement precision
If the system uses multiple recognition devices and obstacle classification, then the accuracy of obstacle detection improves, but the device complexity increases
Solution Approach 1:
The system segments the recognition task into distinct functional modules: a stereo camera for detecting obstacles and their positions, a monocular camera for classification, and a millimeter-wave radar for distance measurement. Each device has a specific function, and their results are integrated by the control unit. This segmentation allows high detection accuracy while maintaining manageable system complexity through modular design.
Data Source
AI summary
When a preceding vehicle moves away during follow-up running control, it is determined whether or not a forward obstacle is recognized. When a forward obstacle is recognized, it is determined whether or not the forward obstacle satisfies any of obstacle specifying conditions corresponding to a plurality of preset types. A basic threshold value set corresponding to the satisfied type is corrected by three correction values so as to set first to third estimated-collision-time determining values. The estimated-collision-time determining values are compared with an estimated collision time of a subject vehicle with respect to the forward obstacle, and acceleration control on the subject vehicle is limited stepwise in accordance with the comparison values.