Vehicle Lane Change Control Using Jerk-Optimized Course Generation
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Solution Overview
Problem
Existing lane change control systems for vehicles fail to minimize uncomfortable changes in acceleration during lane changes, leading to potential discomfort for drivers and occupants, and may result in uneven lane changes due to varying lane widths, making smooth transitions to lane keeping control difficult.
Innovation Solution
A traveling control apparatus that includes a lane change controller, position detector, and lane detector, which generate target courses for both the current and target lanes, calculating movement amounts and jerk rates to manage acceleration changes and adjust courses based on preceding vehicle information and road curvature, ensuring smooth lane changes and transitions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a vehicle makes a lane change using conventional control methods, then the lane change can be executed, but uncomfortable changes in acceleration occur during the lane change
Solution Approach 1:
The patent applies dynamics by making the target course adjustable based on vehicle acceleration characteristics. The system dynamically modifies the target course parameters (such as target position and curvature) according to the vehicle's current acceleration state, allowing the lane change trajectory to adapt to the vehicle's dynamic response characteristics. This reduces uncomfortable acceleration changes by optimizing the lane change path in real-time based on the vehicle's actual motion behavior.
2Device complexity
If a vehicle makes a lane change assuming uniform lane width, then the control can be simplified, but uneven lane changes occur due to varying lane widths
Solution Approach 1:
The patent applies parameter changes by modifying the target course parameters based on actual lane width variations detected during the lane change. The system adjusts target position, curvature, and other geometric parameters of the lane change trajectory according to the detected lane width at different positions. This allows the control system to accommodate non-uniform lane widths while maintaining reasonable complexity by only adjusting key parameters rather than completely redesigning the control architecture.
3Productivity
If a vehicle executes lane change without considering road curvature, then the lane change can be performed quickly, but smooth transitions to lane keeping control become difficult
Solution Approach 1:
The patent applies preliminary action by pre-calculating and adjusting the target course parameters based on detected road curvature information before the lane change is executed. The system detects the curvature of the road in advance and modifies the lane change trajectory accordingly, ensuring that the target course is already optimized for the upcoming road geometry. This allows the vehicle to execute the lane change at appropriate speed while ensuring smooth transition to lane keeping control, as the target course is prepared in advance to match the road conditions.
Data Source
AI summary
A traveling control apparatus of vehicle includes a lane change controller, a position detector, and a lane detector. The lane change controller includes first and second course generators that respectively generate first and second courses as target courses of a vehicle in first and second lanes. The first and the second course generators respectively calculate first and second target movement amounts, in width directions of the first and the second lanes, of the vehicle when the vehicle is moved along the first and the second courses, and respectively generate the first and the second courses on a basis of the first and the second target movement amounts and first and second jerks. The first and the second jerks are each a rate of change of acceleration of the vehicle in the width direction of the first lane in the first course or the second lane in the second course.