Autonomous Vehicle Steering at Intersections After Temporary Stops

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Solution Overview

Problem

Existing vehicle control systems do not adequately consider the intersection environment to optimize the steering wheel angle during temporary stops, leading to inefficiencies in completing turns after restarting.

Innovation Solution

A vehicle control device that autonomously recognizes intersection environment information to set the steering wheel angle based on intersection size, orienting it towards the travel direction for larger intersections and aligning it with the vehicle body for smaller intersections, ensuring smooth turn completion.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Productivity

If the steering wheel angle is set to orient toward the traveling direction after turn for larger intersections, then the turn completion efficiency is improved, but the steering control complexity increases

Engineering Contradiction:

Improveturn completion efficiencyVSAvoidsteering control complexity

Core Design Contradiction:

ProductivityVSDevice complexity

Solution Approach 1:

The system performs preliminary action by setting the steering wheel angle to orient toward the traveling direction after turn before the vehicle actually completes the turn at larger intersections. This anticipatory steering configuration allows the vehicle to resume turning more efficiently after a temporary stop, improving turn completion efficiency without requiring complex real-time adjustments.

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The system dynamically adjusts the steering wheel angle based on intersection size classification. For large intersections, the steering wheel is oriented toward the post-turn traveling direction, while for small intersections, it remains aligned with the vehicle body. This dynamic adaptation resolves the contradiction by applying different steering strategies tailored to specific intersection conditions.

Inventive Principle:

Principle #15Dynamics

2Ease of operation

If the steering wheel angle is set to align with the vehicle body for smaller intersections, then the steering control simplicity is improved, but the turn completion smoothness deteriorates

Engineering Contradiction:

Improvesteering control simplicityVSAvoidturn completion smoothness

Core Design Contradiction:

Ease of operationVSReliability

Solution Approach 1:

The system applies local quality by differentiating steering wheel angle settings based on intersection size. For small intersections, the steering wheel angle aligns with the vehicle body orientation, providing simple and straightforward steering control. This localized approach ensures that the steering strategy matches the specific characteristics of each intersection type.

Inventive Principle:

Principle #3Local quality

Solution Approach 2:

The system changes the steering wheel angle parameter based on intersection size classification. By adjusting this key parameter differently for large versus small intersections, the system optimizes both steering control simplicity and turn completion smoothness for each scenario, resolving the apparent contradiction between simplicity and reliability.

Inventive Principle:

Principle #35Parameter changes

3Reliability

If the vehicle waits for turn at the safe waiting place, then the turning safety is improved, but the turning time increases

Engineering Contradiction:

Improveturning safetyVSAvoidturning time

Core Design Contradiction:

ReliabilityVSLoss of time

Solution Approach 1:

The system performs preliminary action by pre-setting the steering wheel angle to orient toward the traveling direction after turn before the vehicle enters the intersection or stops. This advance configuration reduces the time needed to resume turning after a temporary stop at the safe waiting place, thereby reducing overall turning time while maintaining safety.

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The system maintains continuity of useful action by keeping the steering wheel in the optimal angle position during the temporary stop at the safe waiting place. Rather than returning the steering wheel to the neutral position, the system maintains the turn-oriented angle, allowing the vehicle to resume turning immediately after restarting, thus reducing turning time while preserving safety.

Inventive Principle:

Principle #20Continuity of useful action

Data Source

PatentUS20250360947A1Vehicle control device, storage medium storing vehicle control program, and vehicle control method

Publication Date: 2025.11.27 DENSO CORP

AI summary

A vehicle control device autonomously controls driving of a subject vehicle. The vehicle control device is configured to grasp information; and determine autonomous driving control of the subject vehicle. The vehicle control device grasps information about an environment of an intersection where the subject vehicle is scheduled to travel and information about an emergency vehicle present around the subject vehicle. The vehicle control device decides whether to execute evacuation control for evacuating the subject vehicle from the emergency vehicle. The vehicle control device searches for an evacuation position that is deviated from a prediction track of the emergency vehicle and from which the subject vehicle is configured to return to the traveling direction, and decides to evacuate the subject vehicle to the evacuation position.