Autonomous Lane Change Path Generation with ACSF Compliance
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Solution Overview
Problem
Current autonomous driving systems lack technology to maintain the current driving lane while changing lanes, failing to satisfy Automatic Commanded Steering Function (ACSF) regulations, which is essential for safe and efficient lane changes in autonomous vehicles.
Innovation Solution
A system and method that utilize a detector to recognize line information, an input device to receive lane change commands, and a controller to generate and regenerate lane changing paths based on vehicle behavior information, ensuring the vehicle maintains the current lane by comparing the time to overlap with the new line and the predetermined time to maintain the current lane.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If a lane changing path is generated immediately when a lane change command is received, then the lane change speed is improved, but the ACSF regulation compliance deteriorates because the current driving lane is not maintained for the required time period
Solution Approach 1:
The system performs preliminary action by determining a reference path that maintains the current driving lane before executing the actual lane change. When a lane change command is received, the controller first generates a reference path that keeps the vehicle in the current lane for a predetermined time period, then combines this with a lane change path to ensure both ACSF compliance and efficient lane changing. This preliminary path planning resolves the contradiction by preparing a compliant trajectory in advance.
Solution Approach 2:
The system applies dynamics by making the path generation adaptive based on vehicle state and environment. The controller dynamically adjusts the lane changing path by comparing the generated path with the reference path, and selectively combining segments of both paths based on real-time conditions. This dynamic adjustment ensures the vehicle maintains the current lane for the required time while still achieving the lane change efficiently.
2Productivity
If the vehicle changes lane immediately without maintaining the current lane, then the productivity is improved, but the safety deteriorates due to potential overlap with adjacent lane lines
Solution Approach 1:
The system implements feedback by continuously monitoring the generated lane changing path against the reference path and vehicle behavior. The controller compares the actual path with the reference path and adjusts the final lane changing path accordingly, ensuring the vehicle does not overlap with adjacent lane lines. This feedback mechanism resolves the contradiction by providing real-time verification and correction.
Solution Approach 2:
The system applies preliminary anti-action by proactively preventing line overlap through the reference path mechanism. Before executing the lane change, the system determines a reference path that explicitly avoids overlapping with adjacent lane lines during the mandatory maintenance period. This preliminary prevention eliminates the safety hazard before it can occur.
3Reliability
If a complex path regeneration process is implemented to ensure ACSF compliance, then the regulation compliance is improved, but the system complexity increases
Solution Approach 1:
The system applies segmentation by dividing the path generation into distinct components: a reference path determination module that ensures ACSF compliance, and a lane changing path generation module that achieves efficient lane changing. By segmenting the path into a reference path segment and a lane change path segment that can be selectively combined, the system reduces complexity while maintaining compliance.
4Reliability
If the vehicle maintains the current lane for a predetermined time period, then the ACSF regulation compliance is improved, but the lane change time increases
Solution Approach 1:
The system applies continuity of useful action by seamlessly combining the reference path (current lane maintenance) with the lane change path. Instead of treating them as separate sequential actions that waste time, the controller continuously integrates both path segments, allowing the vehicle to maintain the current lane for the required period while smoothly transitioning to the lane change trajectory, minimizing overall lane change duration.
Data Source
AI summary
A system for generating a path when a travel lane of a driver's vehicle is changed, may include a detector configured to recognize line information on a front side of the driver's vehicle, an input device configured to input a lane changing command of the driver's vehicle, and a controller configured to generate a lane changing path using vehicle behavior information generated based on the lane changing command and the line information and target behavior information, and to compare a time period until the driver's vehicle overlaps a line when the driver's vehicle changes the line and a time period which is set to maintain a current travel lane to control the lane changing path.