Intersection Start Control for Autonomous Vehicles Facing Turning Motorcycles
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Solution Overview
Problem
Existing autonomous driving systems do not adequately consider safety when causing a vehicle stopped at an intersection to start moving based on traffic conditions, particularly when encountering oncoming vehicles that may turn across the lane.
Innovation Solution
An autonomous driving vehicle system that includes a traffic light state recognition unit, space recognition unit, and vehicle control unit to determine if a vehicle can pass through an intersection, and if not, stops at the intersection. It then allows the vehicle to start moving with limited acceleration or speed based on the presence and type of oncoming vehicles, especially two-wheeled vehicles, to ensure safe passage.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the host vehicle is caused to start moving when the traffic light is green and the vehicle can pass through the intersection, then the vehicle can proceed through the intersection, but safety may be compromised when there are crossing oncoming vehicles particularly two-wheeled vehicles
Solution Approach 1:
The system dynamically changes the speed parameter based on the type of crossing oncoming vehicle. When a two-wheeled vehicle is detected, the host vehicle limits its speed to a third upper limit value (lower than the second upper limit value used for other vehicles). This parameter adjustment ensures safety by reducing speed when vulnerable road users are present, while maintaining efficiency when no such vehicles are present.
Solution Approach 2:
The vehicle control unit acts as an intermediary that mediates between the desire to proceed through the intersection (productivity) and the need for safety. It detects crossing oncoming vehicles and intermediates the speed control, applying different speed limits based on the detected vehicle type, thus balancing efficiency and safety requirements.
2Speed
If the host vehicle travels with higher acceleration or speed to pass through the intersection efficiently, then productivity is improved, but the risk to two-wheeled vehicles increases
Solution Approach 1:
The system changes the speed parameter dynamically based on the detected crossing oncoming vehicle type. When a two-wheeled vehicle is detected, the speed is limited to a third upper limit value (smaller than the second upper limit value). This parameter change reduces the harmful effect on two-wheeled vehicles while maintaining higher speeds when no such vulnerable vehicles are present.
Solution Approach 2:
The system takes preliminary action by detecting crossing oncoming vehicles before the host vehicle enters the intersection and preemptively adjusts the speed parameter to prevent potential harm. By limiting speed in advance when two-wheeled vehicles are detected, the system prevents harmful situations before they can occur.
Data Source
AI summary
An autonomous driving vehicle includes an ECU configured to, when a lighting state is green lighting and a state has changed from a state where a host vehicle cannot pass an intersection to a state where the host vehicle can pass the intersection: cause the host vehicle that has stopped in front of the intersection to start moving and cause the host vehicle to travel with an acceleration or a vehicle speed limited to a second upper limit value smaller than a first upper limit value when there is a crossing oncoming vehicle; and cause the host vehicle to travel with the acceleration or the vehicle speed limited to a third upper limit value smaller than the second upper limit value when the crossing oncoming vehicle is a two-wheeled vehicle, the second upper limit value being used when the crossing oncoming vehicle is not a two-wheeled vehicle.