Driving Assistance Trajectory Synchronization for Parked Vehicle Avoidance
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Solution Overview
Problem
Existing driving assistance systems face challenges in smoothly avoiding and passing parked vehicles during turning maneuvers, as steering control for turning and avoidance are often performed separately, leading to frequent steering and incomplete avoidance.
Innovation Solution
The driving assistance device integrates steering control for turning and avoidance by generating a target travel trajectory that allows the vehicle to pass beside a parked vehicle with a predetermined interval, synchronizing the turning end or start position with the vehicle's lateral position relative to the parked vehicle, thereby reducing steering frequency and improving avoidance efficiency.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If steering control for turning and steering control for avoidance of parked vehicle are performed separately, then each control can be executed independently, but steering becomes frequent and the parked vehicle cannot be avoided smoothly
Solution Approach 1:
The patent merges steering control for turning with steering control for avoiding parked vehicles into a single integrated control process. The travel route generation unit generates a unified target travel trajectory that incorporates both the turning maneuver and the avoidance of parked vehicles, eliminating the need for separate control operations and reducing steering frequency while ensuring smooth avoidance.
2Productivity
If steering control for turning and steering control for avoidance are integrated, then steering frequency is reduced and avoidance is smooth, but the control system becomes more complex
Solution Approach 1:
The travel route generation unit is designed to perform multiple functions: it generates target travel trajectories for both turning maneuvers and avoidance of parked vehicles, as well as integrated combinations of both. This multi-functional approach consolidates what would otherwise require separate control systems, achieving integration without proportionally increasing overall system complexity.
3Reliability
If the vehicle passes beside the parked vehicle with a predetermined interval, then safety is improved, but the lateral space required increases
Solution Approach 1:
The system dynamically adjusts the lateral interval parameter between the own vehicle and parked vehicles based on the specific situation. By optimizing this parameter rather than using a fixed conservative distance, the system achieves adequate safety margins while minimizing the lateral space required, allowing more efficient use of available road width during avoidance maneuvers.
Data Source
Figure 1
Figure 2A~2B
Figure 3A~3B
AI summary
A controller (40) performs: processing (S9, S29) of determining presence or absence of a parked vehicle (65) ahead on a route of an own vehicle (63); processing (S5, S25) of determining whether or not turning of the own vehicle is to be performed; processing (S11, S31) of determining whether or not distance (D) between a turning position at which the turning is performed and the parked vehicle satisfies a predetermined condition; trajectory generation processing (S13, S34) of generating a target travel trajectory (68) in such a way that, when the distance (D) between the turning position and the parked vehicle satisfies the predetermined condition, the own vehicle passes beside the parked vehicle at a predetermined side position with a predetermined interval interposed between the parked vehicle and the own vehicle on one side of the parked vehicle and a turning end position in a case of turning at a position before a position of the parked vehicle or a turning start position in a case of turning after having passed beside the parked vehicle on the route coincides with the predetermined side position in a width direction of a road on which the parked vehicle is parked; and processing (S15, S36) of performing travel control, based on the target travel trajectory.