Automated Driving Handover Velocity Control by Road Context
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Solution Overview
Problem
Drivers experience a strange feeling when taking over control of a vehicle from an automatic driving system, particularly due to inconsistent vehicle velocity settings that do not account for varying external environments.
Innovation Solution
The automatic driving system dynamically sets a termination target velocity based on the external environment at the end of the driving transition zone, including factors like traffic rules, road attributes, congestion, weather, and illuminance, to ensure a smooth transition and reduce driver discomfort.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the vehicle velocity at the end point is set to a fixed value regardless of external environment, then the control system is simple and reliable, but the driver experiences a strange feeling during transition
Solution Approach 1:
The termination target velocity is changed from a fixed value to a dynamically adjustable parameter that varies according to external environmental conditions. The control device acquires external environment information and selectively determines the termination target velocity based on whether the vehicle is in an urban area or non-urban area, making the system adaptive to different driving contexts and reducing driver discomfort during transitions.
Solution Approach 2:
The patent changes the velocity parameter (termination target velocity) based on external environmental conditions. Specifically, the system sets different velocity values for urban areas versus non-urban areas, allowing the velocity parameter to adapt to the surrounding environment. This parameter change approach resolves the contradiction by making the velocity setting flexible rather than fixed, improving driver comfort without requiring overly complex system architecture.
2Reliability
If the termination target velocity is set to ensure complete stop at end point, then the vehicle stops safely, but the driver experiences unnecessary deceleration stress in open areas
Solution Approach 1:
The patent applies different velocity control strategies for different spatial contexts (urban areas versus non-urban areas). In urban areas where complete stops are necessary for safety, the system sets the termination target velocity to ensure the vehicle stops. In non-urban areas where continuous flow is more appropriate, the system allows the vehicle to maintain higher velocity. This local quality approach ensures safety where needed while reducing unnecessary driver stress in open areas.
Solution Approach 2:
The termination target velocity parameter is changed based on the type of area detected by the external environment information acquisition device. The system selectively sets the velocity parameter to different values (zero for urban areas, non-zero for non-urban areas), thereby adjusting the stopping behavior to match the environmental context. This parameter change ensures reliable stopping when necessary while avoiding unnecessary deceleration stress in appropriate conditions.
3Productivity
If the vehicle maintains higher velocity during transition zone, then the transition is faster and more efficient, but the driver has less time to prepare for manual driving
Solution Approach 1:
The system dynamically adjusts the termination target velocity based on external environmental conditions rather than using a fixed high velocity throughout. In urban areas, the system sets a lower termination target velocity (ensuring complete stop), which naturally extends the deceleration process and gives the driver more preparation time. In non-urban areas, the system allows higher velocities to maintain transition efficiency. This dynamic adjustment balances transition speed with driver preparation time based on contextual needs.
Data Source
AI summary
An automatic driving system includes a control device that controls automatic driving of a vehicle, and a storage device that contains external environment information indicating an external environment of the vehicle. A driving transition zone is a zone in which a driver of the vehicle takes over at least a part of driving of the vehicle, from the control device. A termination target velocity is a target velocity of the vehicle at an end point of the driving transition zone. The control device variably sets the termination target velocity, depending on the external environment at the end point or the external environment surrounding the end point. Then, the control device controls the velocity of the vehicle in the driving transition zone, such that the velocity of the vehicle at the end point is the termination target velocity.