Vehicle Following Trajectory Control Around Intervening Obstacles
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Solution Overview
Problem
Existing following travel control systems fail to appropriately continue following a preceding vehicle when circumstances such as intervening vehicles or pedestrians occur, potentially leading to collisions or unsafe stops.
Innovation Solution
A following travel control device equipped with a processor that recognizes a preceding vehicle, generates a target travel trajectory for the host vehicle to follow, and autonomously navigates the vehicle along this trajectory. The system interrupts following travel when obstacles appear, continues to recognize the preceding vehicle, and generates a new trajectory to restart following travel safely.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If following travel control is continuously performed to the preceding vehicle, then the host vehicle can maintain following travel, but there is a risk that vehicle, person or the like existing between the preceding vehicle and the host vehicle may contact the host vehicle or the host vehicle may not be able to stop in a place where a stop is required
Solution Approach 1:
The system dynamically adjusts the following travel control state based on real-time detection of intervening objects. When an object is detected between the host vehicle and preceding vehicle, the system transitions from continuous following travel to interrupted following travel, and then back to continuous following travel when the object is no longer present. This dynamic state adjustment resolves the contradiction by adapting the continuity of following travel to actual safety conditions.
Solution Approach 2:
The system continuously monitors the space between the host vehicle and preceding vehicle for intervening objects and uses this feedback to control the following travel state. The detection result feeds back to the control unit, which adjusts the following travel control accordingly - maintaining continuous control when safe and interrupting it when objects are detected, thus resolving the safety-continuity contradiction.
2Reliability
If following travel control is interrupted when obstacles appear, then safety is improved, but the following travel control cannot be continuously performed which may not meet driver expectations
Solution Approach 1:
The system implements dynamic control state management where following travel control transitions between continuous and interrupted states based on obstacle detection. When obstacles are detected, the control state changes to interrupted; when obstacles are cleared, it returns to continuous. This dynamic adjustment satisfies both safety requirements (by interrupting when needed) and driver expectations for continuity (by resuming when safe).
Solution Approach 2:
The system maintains the capability for continuous following travel by implementing automatic resumption when intervening objects are no longer detected. The control unit continues to monitor conditions and restores continuous following travel control when the path is clear, ensuring that the useful action of following travel is maintained continuously whenever safety conditions permit.
3Measurement precision
If the host vehicle increases the distance from the preceding vehicle to improve recognition, then recognition accuracy is improved, but the following travel performance deteriorates
Solution Approach 1:
The system performs preliminary recognition of the preceding vehicle and intervening objects before making follow 行程 control decisions. By detecting and identifying objects in advance, the system can determine whether to maintain or interrupt following travel control based on the presence of obstacles, thus improving recognition accuracy without permanently increasing distance and maintaining following travel performance when safe.
Solution Approach 2:
The system changes the operational parameters of following travel control (specifically the distance to preceding vehicle) based on detection results. When no obstacles are present, normal following distance is maintained for optimal performance. When obstacles are detected, the system adjusts the control state to interrupted following travel, effectively changing the distance parameter dynamically to improve recognition safety while maintaining performance when conditions permit.
Data Source
AI summary
A following travel control device recognizes a preceding vehicle, performs following travel control in which a host vehicle follows the preceding vehicle, generates a target travel trajectory of the host vehicle which draws a travel track different from the travel track of the preceding vehicle, makes the host vehicle travel autonomously along the target travel trajectory, interrupts the following travel control when circumstances in which the following travel control cannot be continued occur while the following travel control is performed, continues to recognize the preceding vehicle, and generates the target travel trajectory which can restart the following travel control.