Lane Change Assist Control With Driver-Responsive Trajectory Reset
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Solution Overview
Problem
Conventional lane change assist systems fail to accurately reflect the driver's intended trajectory during lane changes, as they continue to use a pre-set target trajectory even if the driver performs additional steering operations, potentially leading to unintended lane change paths.
Innovation Solution
A lane change assist apparatus that includes a lane recognition unit, a target trajectory calculation unit, and an assist control unit, which determines if the driver has performed a steering operation during the lane change assist control. The system recalculates the target trajectory based on the driver's steering input, ensuring the vehicle changes lanes along the driver's intended path by using a first calculation unit for initial lane change and a second calculation unit for adjustments after driver intervention.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If the system uses a pre-set target trajectory for lane change assist control, then the lane change can be executed automatically without driver steering input, but the trajectory may not reflect the driver's actual intentions when the driver performs additional steering operations
Solution Approach 1:
The system continuously monitors steering wheel operation during lane change assist control and uses this feedback to determine whether the driver has performed additional steering operations. When driver steering input is detected, the system switches from using the pre-set target trajectory to calculating a new target trajectory based on the driver's actual steering operations, thereby preserving the driver's intended trajectory information
Solution Approach 2:
The target trajectory is made dynamic rather than static. The system switches between two modes: using a pre-set target trajectory when no driver steering input is detected, and calculating a new target trajectory based on driver operations when steering input is detected. This dynamic adaptation allows the system to maintain automation while responding to driver intentions
2Device complexity
If the system continues to use the original target trajectory after driver steering input, then the control logic remains simple, but the lane change may follow a path that does not match the driver's intention
Solution Approach 1:
The steering operation determination unit provides feedback about driver steering inputs to the target trajectory calculation unit. This feedback mechanism allows the system to switch between simple pre-set trajectory usage and more complex driver-responsive trajectory calculation, maintaining simplicity when appropriate while ensuring reliability when needed
Solution Approach 2:
The system changes the parameter of target trajectory selection based on driver steering input. When no steering input is detected, the system uses the pre-set target trajectory parameters. When steering input is detected, the system changes to using dynamically calculated trajectory parameters based on the driver's actual steering operations, thereby maintaining both simplicity and accuracy
Data Source
AI summary
A driving support ECU initializes a target trajectory calculation parameter at a start of LCA; calculates, based on the target trajectory calculation parameter, a target trajectory function representing a target lateral position which is a target position of an own vehicle in a lane width direction in accordance with an elapsed time from the start of LCA; calculates a target control amount based on the target trajectory function; when a steering operation by a driver has been detected, again initializes the target trajectory calculation parameter; and recalculates the target trajectory function based on the target trajectory calculation parameter.