Driving Support Apparatus Lane Change Control
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Solution Overview
Problem
Existing driving support apparatuses face challenges in accurately changing lanes when the reliability of white line recognition is low, leading to reduced responsiveness and increased lane change time, which can result in other vehicles approaching too closely, especially in high-speed scenarios.
Innovation Solution
A driving support apparatus that classifies the reliability of white line recognition into three levels and adjusts the responsiveness of both lane keeping and lane change assist controls accordingly, allowing for more appropriate steering control amounts to ensure safe and timely lane changes without sudden movements.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If the steering control amount is limited by an upper limit value when the reliability of white line recognition is low, then the stability of lane keeping is improved, but the responsiveness of control is lowered
Solution Approach 1:
The patent applies dynamics by making the upper limit value of steering control amount variable rather than fixed. The system dynamically adjusts the upper limit value based on vehicle speed, setting a lower limit at high speeds to maintain stability and a higher limit at low speeds to improve responsiveness. This dynamic adjustment resolves the contradiction between stability and responsiveness adaptively across different operating conditions.
2Measurement precision
If the steering control amount is limited by an upper limit value during lane change assist control, then the accuracy of target position is improved, but the lane change time becomes longer
Solution Approach 1:
The patent applies dynamics by making the upper limit value of steering control amount variable based on vehicle speed. At high speeds where target position accuracy is critical, a lower upper limit value is set to prevent excessive steering corrections. At low speeds where time is less critical, a higher upper limit value is set to enable faster lane changes. This dynamic adjustment resolves the contradiction between accuracy and time adaptively.
Solution Approach 2:
The patent applies parameter changes by modifying the upper limit value parameter of steering control amount based on vehicle speed conditions. The system changes this control parameter to optimize performance: using a conservative lower limit at high speeds for accuracy and a more aggressive higher limit at low speeds for speed, thereby resolving the contradiction between target position accuracy and lane change time.
3Stability of the object's composition
If a lower upper limit value is used at high speeds, then the stability is improved, but the lane change responsiveness is reduced
Solution Approach 1:
The patent applies parameter changes by adjusting the upper limit value parameter according to vehicle speed. At high speeds, a lower upper limit value is set to maintain stability and prevent sudden lane changes. At low speeds, a higher upper limit value is set to improve responsiveness. This parameter adaptation based on operating conditions resolves the contradiction between stability and responsiveness.
Data Source
AI summary
A driving support apparatus for a vehicle includes a lane keeping assist control unit configured to perform a lane keeping assist control, and a lane change assist control unit configured to perform a lane change assist control. When a reliability with respect to a recognition result of lane lines is a predetermined level, the lane keeping assist control unit lowers a responsiveness of the lane keeping assist control, compared with the responsiveness of the lane keeping assist control when the reliability is a level higher than the predetermined level. When the reliability is a level lower than the predetermined level, the lane change assist control unit lowers a responsiveness of the lane change assist control, compared with the responsiveness of the lane change assist control when the reliability is the predetermined level.