Intersection Lane-Change Control to Avoid Automated Driving Gridlock

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Solution Overview

Problem

Existing automated driving systems fail to account for situations where there is no space in the vehicle lane ahead of an intersection, leading to the vehicle becoming stuck in the intersection, which impairs the convenience of automated driving.

Innovation Solution

An automated driving control device that includes a situation grasping section to determine if there is space in the vehicle lane ahead of an intersection and, if not, executes a lane change in a direction that allows the vehicle to exit the lane, with reduced lateral vector generation during the lane change, especially within the intersection.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Reliability

If the automated driving system follows the current lane ahead of the intersection, then the vehicle can maintain its original traveling path, but the vehicle becomes stuck in the intersection when there is no space ahead

Engineering Contradiction:

Improvevehicle can exit intersectionVSAvoidautomated driving convenience

Core Design Contradiction:

ReliabilityVSEase of operation

Solution Approach 1:

The system performs preliminary space detection ahead of the intersection before the vehicle reaches it. When no space is detected, the system proactively executes a lane change maneuver in advance to prevent the vehicle from becoming stuck in the intersection, rather than reacting after the problem occurs.

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The system dynamically adjusts the vehicle's traveling path by changing lanes based on real-time spatial conditions. The lane change execution is conditioned on the detected space availability, allowing the vehicle to adapt its trajectory dynamically to avoid getting stuck while maintaining automated driving operation.

Inventive Principle:

Principle #15Dynamics

2Reliability

If the vehicle executes a lane change in a section including an intersection, then the vehicle can exit the lane to avoid getting stuck, but the lateral vector becomes larger which may affect vehicle stability

Engineering Contradiction:

Improvevehicle can exit intersectionVSAvoidvehicle lateral stability

Core Design Contradiction:

ReliabilityVSStability of the object's composition

Solution Approach 1:

The system modifies the lateral vector parameter during lane change execution within the intersection section. By adjusting the magnitude of the lateral vector to be smaller than in conventional lane changes, the system achieves the lane change maneuver while maintaining vehicle stability and reducing potential instability effects.

Inventive Principle:

Principle #35Parameter changes

Data Source

PatentUS20250360926A1Automated driving control device

Publication Date: 2025.11.27 DENSO CORP

AI summary

An automated driving control device enables traveling of a subject vehicle by an automated driving function. The automated driving control device is configured to grasp, in a scene where the subject vehicle is scheduled to pass through an intersection, whether there is a space for the subject vehicle in a subject vehicle lane ahead of the intersection; and determine, in a case where there is not the space in the subject vehicle lane, execution of a lane change in a direction in which the subject vehicle leaves the subject vehicle lane in a section including the intersection. The automated driving control device makes a lateral vector generated in the subject vehicle in the lane change in the section including the intersection smaller than a lateral vector in the lane change in a section not including the intersection.