Autonomous Driving Lane Change Continuation Decision Logic
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Solution Overview
Problem
Autonomous driving systems face confusion among subsequent vehicles when lane change control is stopped mid-execution, particularly if a vehicle in the second lane is not aware of the intention to change lanes, leading to potential misunderstandings and safety concerns.
Innovation Solution
An autonomous driving system that includes an information acquiring device and a travelling control device, which determines whether to continue or stop lane change control based on a combination of progress level and influence level, using predefined influence levels and progress metrics such as relative position, elapsed time, and travelling distance to assess the impact on subsequent vehicles.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If lane change control is stopped when a vehicle is detected in the second lane, then collision avoidance is improved, but subsequent vehicles may be confused due to mid-execution stopping
Solution Approach 1:
The system changes the parameter of lane change control execution based on the detected progress level and influence level. When progress is sufficient or influence on subsequent vehicles is low, the system maintains execution despite detecting a vehicle in the second lane, thereby avoiding unnecessary stopping and confusion while still ensuring collision avoidance when appropriate.
Solution Approach 2:
The system continuously monitors the progress level of lane change execution and the presence of subsequent vehicles, using this feedback to dynamically adjust whether to continue or stop lane change control. This feedback mechanism allows the system to make informed decisions that balance collision avoidance with preventing confusion among neighboring vehicles.
2Object-generated harmful factors
If lane change control continues without stopping when a vehicle is present in the second lane, then confusion among subsequent vehicles is prevented, but collision risk increases
Solution Approach 1:
The system dynamically adjusts the execution state of lane change control based on two key parameters: progress level (how far the lane change has progressed) and influence level (the impact on subsequent vehicles). This parameter-based control allows the system to continue lane change when safe to do so, preventing confusion, while stopping when necessary to avoid collisions.
Solution Approach 2:
The system makes dynamic decisions about lane change execution rather than following a fixed rule. By continuously evaluating the current situation against predefined progress and influence levels, the system can adapt its behavior in real-time, continuing lane change when conditions permit and stopping when safety requires it.
3Reliability
If lane change control is stopped early to avoid collisions, then safety is improved, but lane change efficiency decreases
Solution Approach 1:
The system uses progress level as a key parameter to determine when stopping lane change control is appropriate. By requiring a certain level of progress before stopping, the system ensures that lane changes are not unnecessarily interrupted, maintaining efficiency while still prioritizing safety when the progress level indicates sufficient advancement.
4Productivity
If lane change control continues to completion even when a vehicle is present, then lane change efficiency is improved, but the risk of confusion or collision with subsequent vehicles increases
Solution Approach 1:
The system evaluates the influence level parameter, which assesses the impact of continuing lane change on subsequent vehicles. When the influence level is low (indicating minimal impact or confusion), the system allows lane change to continue to completion, maintaining efficiency. When influence level is high, the system stops lane change to prevent confusion or collision, even if efficiency is reduced.
Data Source
AI summary
An autonomous driving system includes an information acquiring device configured to acquire driving environment information and a travelling control device configured to execute lane change control from a first lane to a second lane during autonomous driving based on the driving environment information. The travelling control device is configured to perform a continuation determining process of determining whether to continue the lane change control based on a combination of a progress level and an influence level when a subsequent vehicle in the second lane is detected based on the driving environment information and a stop request for execution of the lane change control is detected after execution of the lane change control has started. The progress level represents progress of the lane change control and the influence level represents a predicted degree of influence of continuing the lane change control on the subsequent vehicle.