Lane Change Assist Control That Recalculates Driver-Adjusted Trajectories
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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 the initial 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 operation, ensuring the vehicle changes lanes along the driver's intended path by using a first calculation unit for the initial phase and a second calculation unit for subsequent phases based on the driver's actions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the system uses the initial target trajectory throughout the lane change assist control, then the control process is simple and stable, but the trajectory does not reflect the driver's additional steering operations and may not match the driver's intended path
Solution Approach 1:
The system dynamically adjusts the target trajectory during lane change assist control by detecting driver steering operations. When steering operation is detected, the system recalculates the target trajectory based on the current vehicle state and driver input, making the trajectory adaptive rather than static. This resolves the contradiction by allowing the system to maintain simplicity when no driver intervention occurs while capturing driver intent when steering operations are performed.
Solution Approach 2:
The system implements feedback by continuously monitoring driver steering operations during lane change assist control. The steering operation detection unit provides feedback about driver input to the target trajectory calculation unit, which then adjusts the trajectory accordingly. This feedback mechanism ensures the trajectory reflects actual driver intent while maintaining system stability through structured information flow.
2Reliability
If the system detects and responds to driver steering operations by recalculating the target trajectory, then the trajectory accurately reflects driver intent, but the control process becomes more complex
Solution Approach 1:
The system segments the lane change assist control into distinct functional units: a lane recognition unit, a target trajectory calculation unit, a steering operation detection unit, and an assist control unit. This segmentation allows each component to perform its specific function independently, managing complexity through modular design while ensuring reliable trajectory accuracy through specialized processing in each segment.
Solution Approach 2:
The target trajectory calculation unit serves multiple functions: it initially calculates the target trajectory based on lane recognition, continuously monitors for driver steering operations, detects when recalculation is needed, and performs the recalculation when necessary. This multi-functionality reduces overall system complexity by consolidating multiple responsibilities into a single versatile component rather than requiring separate dedicated units for each function.
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.