Driving Assistance Trajectory Switching for Entering Vehicles
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Solution Overview
Problem
Existing driving assistance systems face challenges in maintaining a stable trajectory for a host vehicle when an entering vehicle intersects between the host vehicle and a preceding vehicle, leading to unsteadiness and discomfort for the driver due to sudden changes in control gain and trajectory deviation.
Innovation Solution
A driving assistance device that includes a preceding vehicle detection system, an entering vehicle detection system, and a trajectory adjustment mechanism, which sets a target trajectory based on the travel trajectories of both vehicles to minimize deviation and maintain stability by switching control between the trajectories at a predetermined deviation point, thereby adjusting the steering and speed control to prevent unsteadiness.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If the control gain of feedback control is decreased when a preceding vehicle is detected to switch, then sudden strong driving assistance is restrained, but large deviation remains between travel trajectories before and after switching causing host vehicle unsteadiness
Solution Approach 1:
The system performs preliminary detection of entering vehicles and calculates their travel trajectories in advance. When an entering vehicle is detected, the system proactively switches the target trajectory to the entering vehicle's trajectory before the host vehicle reaches the deviation point, preventing large trajectory deviations and maintaining stable driving assistance without needing to reduce control gain.
2Adaptability or versatility
If the target trajectory is switched immediately when an entering vehicle is detected, then the host vehicle can follow the entering vehicle, but large deviation occurs in the width direction causing unsteadiness
Solution Approach 1:
The system introduces an intermediate judgment mechanism that calculates the deviation amount between the current target trajectory (preceding vehicle) and the entering vehicle's trajectory. The target trajectory is switched only when this deviation amount becomes a predetermined value or below, serving as an intermediary condition that balances responsiveness with stability, preventing sudden large deviations in the host vehicle's width direction.
3Power
If the control gain is maintained at normal levels, then optimal steering and speed control is achieved, but sudden strong assistance occurs when entering vehicles are detected
Solution Approach 1:
The system converts the potentially harmful effect of entering vehicle detection into a beneficial outcome by using the entering vehicle's travel trajectory as the new target trajectory. This allows the system to maintain normal control gain levels for optimal responsiveness while naturally avoiding sudden strong assistance that would cause driver discomfort, as the trajectory switching is based on actual vehicle paths rather than abrupt control adjustments.
Data Source
AI summary
A driving assistance device including: a preceding vehicle detection portion; a speed control portion controlling the speed adjustment to the host vehicle to obtain a target inter-vehicle distance; a preceding vehicle travel trajectory acquisition portion; an entering vehicle detection portion; an entering vehicle travel trajectory acquisition portion; a target trajectory setting portion setting the target travel trajectory of the host vehicle based on at least the travel trajectory of the preceding or the entering vehicle; a steer control portion controlling the adjustment of the steer amount calculated based on the target travel trajectory; and a location determination portion determining the location where the deviation amount between the travel trajectories of the entering and preceding vehicles becomes the predetermined value or below. The target trajectory setting portion sets the target travel trajectory of the host vehicle based on the travel trajectory of the entering vehicle, after the determined location.