Lane-Change Trajectory Control for Dynamic Obstacle Avoidance

Solution Overview

Problem

Existing vehicle control systems that set entry prohibition areas around obstacles during lane changes can lead to unnatural vehicle behavior, such as returning to the original lane to avoid collisions, compromising safety and comfort when obstacles in the destination lane decelerate or accelerate.

Innovation Solution

A vehicle control apparatus that adjusts entry prohibition areas based on the ego vehicle's lateral position during lane changes, using movement predictions and road information to prevent unnatural lane changes by setting target trajectories that avoid obstacles in the destination lane without returning to the original lane.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Reliability

If a fixed entry prohibition area is set around obstacles in the destination lane, then collision avoidance is improved, but unnatural lane change behavior occurs when obstacles decelerate

Engineering Contradiction:

Improvecollision avoidanceVSAvoidlane change naturalness

Core Design Contradiction:

ReliabilityVSEase of operation

Solution Approach 1:

The entry prohibition area is dynamically adjusted based on the progress degree of the lane change. When the lane change progress is high, the prohibition area is reduced or canceled to prevent unnatural return behavior. When the progress is low, the prohibition area is maintained to ensure collision avoidance. This dynamic adjustment resolves the contradiction between safety and naturalness.

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The system changes the parameter of the entry prohibition area (its size and presence) based on the lane change progress degree. By adjusting this parameter according to the real-time state of the lane change maneuver, the system achieves both collision avoidance and natural lane change behavior without unnecessary returns to the origin lane.

Inventive Principle:

Principle #35Parameter changes

2Reliability

If the ego vehicle returns to the changing origin lane to avoid obstacles, then collision is avoided, but safety and comfort are reduced

Engineering Contradiction:

Improvecollision avoidanceVSAvoidoccupant comfort

Core Design Contradiction:

ReliabilityVSObject-affected harmful factors

Solution Approach 1:

The entry prohibition area is dynamically adjusted based on the progress degree of the lane change. When the lane change progress is high, the prohibition area is reduced or canceled to prevent unnatural return behavior. When the progress is low, the prohibition area is maintained to ensure collision avoidance. This dynamic adjustment resolves the contradiction between safety and naturalness.

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The system changes the parameter of the entry prohibition area (its size and presence) based on the lane change progress degree. By adjusting this parameter according to the real-time state of the lane change maneuver, the system achieves both collision avoidance and natural lane change behavior without unnecessary returns to the origin lane.

Inventive Principle:

Principle #35Parameter changes

3Reliability

If a strict entry prohibition area is maintained during lane change, then obstacle avoidance is ensured, but the vehicle cannot adapt to obstacles that change speed

Engineering Contradiction:

Improveobstacle avoidanceVSAvoidresponse to obstacle movement

Core Design Contradiction:

ReliabilityVSAdaptability or versatility

Solution Approach 1:

The entry prohibition area is dynamically adjusted based on the progress degree of the lane change. When the lane change progress is high, the prohibition area is reduced or canceled to prevent unnatural return behavior. When the progress is low, the prohibition area is maintained to ensure collision avoidance. This dynamic adjustment resolves the contradiction between safety and naturalness.

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The system changes the parameter of the entry prohibition area (its size and presence) based on the lane change progress degree. By adjusting this parameter according to the real-time state of the lane change maneuver, the system achieves both collision avoidance and natural lane change behavior without unnecessary returns to the origin lane.

Inventive Principle:

Principle #35Parameter changes

Data Source

PatentUS20240391457A1Vehicle control apparatus

Publication Date: 2024.11.28 MITSUBISHI ELECTRIC CORP

AI summary

To provide a vehicle control apparatus which sets a target trajectory considered an obstacle which exists in a changing lane, and can improve safety and comfort of occupant. A vehicle control apparatus sets an entry prohibition area based on at least one of a movement prediction of an obstacle, and/or road information; calculates a target trajectory under a constraint of not entering into the entry prohibition area; and when calculating a target trajectory for changing lanes from a changing origin lane to a changing destination lane, changes the entry prohibition area, based on a position of an ego vehicle with respect to the changing origin lane or the changing destination lane.