Driving Support Apparatus Cooperative Collision Avoidance Control

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Solution Overview

Problem

Existing driving support apparatuses fail to effectively coordinate collision avoidance braking control and lane deviation suppressing control, leading to reduced collision avoidance effects due to independent operation of these controls, and inability to utilize lane deviation suppressing control to enhance collision avoidance.

Innovation Solution

A driving support apparatus that includes an object information acquiring apparatus and a controller to determine whether the steered direction by lane deviation suppressing control is the same as the collision avoidance direction, allowing for cooperative control between collision avoidance braking and lane deviation suppressing controls, and adjusting steering thresholds to ensure proper execution of these controls.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Reliability

If the lane deviation suppressing control is performed independently from the collision avoidance braking control, then the lane keeping function is maintained, but the collision avoidance effect is reduced when the steered direction conflicts with the collision avoidance direction

Engineering Contradiction:

Improvecollision avoidance effectVSAvoidcontrol coordination complexity

Core Design Contradiction:

ReliabilityVSDevice complexity

Solution Approach 1:

The patent merges the lane deviation suppressing control and collision avoidance braking control into a unified control system. The controller integrates both control algorithms and dynamically coordinates their execution based on real-time situation assessment, ensuring that lane keeping actions do not conflict with collision avoidance maneuvers.

Inventive Principle:

Principle #5Merging (Combining)

Solution Approach 2:

The control system dynamically adjusts the execution of lane deviation suppressing control based on the collision risk assessment. When collision risk is detected, the system dynamically modifies or suspends lane keeping actions to prioritize collision avoidance, creating a flexible and adaptive control behavior.

Inventive Principle:

Principle #15Dynamics

2Reliability

If the lane deviation suppressing control is stopped to perform collision avoidance braking control, then the collision avoidance effect is improved, but the lane keeping function is lost unnecessarily when the steered direction aligns with the collision avoidance direction

Engineering Contradiction:

Improvecollision avoidance effectVSAvoidlane keeping effectiveness

Core Design Contradiction:

ReliabilityVSProductivity

Solution Approach 1:

The patent applies local quality by selectively enabling or disabling lane deviation suppressing control based on the specific spatial relationship between the target object and lane position. When the target is outside the lane and steered direction aligns with collision avoidance direction, lane keeping is maintained locally. When conflict exists, lane keeping is selectively suspended in that specific situation.

Inventive Principle:

Principle #3Local quality

Solution Approach 2:

The system changes the control parameter state of lane deviation suppressing control based on detected conditions. The controller adjusts whether lane keeping control is active or inactive depending on the positional relationship between target object and lane, and the alignment between steered direction and collision avoidance direction, optimizing both safety and lane keeping effectiveness.

Inventive Principle:

Principle #35Parameter changes

3Adaptability or versatility

If both collision avoidance braking control and lane deviation suppressing control are performed simultaneously without coordination, then both functions are maintained, but conflicting steering actions reduce the overall collision avoidance effectiveness

Engineering Contradiction:

Improvecontrol functionalityVSAvoidcollision avoidance effectiveness

Core Design Contradiction:

Adaptability or versatilityVSReliability

Solution Approach 1:

The patent implements feedback mechanisms where the controller continuously monitors the execution status of both controls, the positional relationship between target and lane, and the alignment of steered direction with collision avoidance direction. Based on this feedback, the controller dynamically coordinates the two controls to ensure they work synergistically rather than conflict with each other.

Inventive Principle:

Principle #23Feedback

Data Source

PatentUS11691621B2Driving support apparatus including collision avoidance braking control

Publication Date: 2023.07.04 TOYOTA JIDOSHA KK

AI summary

A driving support apparatus comprises a controller for performing collision avoidance braking control and lane deviation suppressing control. When a performing condition of the lane deviation suppressing control is satisfied at a timing of the collision avoidance braking control is about to be performed, the controller makes direction determination processing for determining whether or not the own vehicle travels to a direction toward which it will collide with a target object or to a direction toward which it will avoid colliding with the target object. In the direction determination processing, when it is determined the own vehicle travels to a collision direction, the controller stops the lane deviation suppressing control to perform the collision avoidance braking control, and when it is determined the own vehicle travels to a collision avoidance direction, the controller performs cooperative control for making the lane deviation suppressing control cooperate with the collision avoidance braking control.