Automated Lane Change Readiness Control for Smoother Maneuvers
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Solution Overview
Problem
Automated lane change (ALC) operations in mobile platforms face issues such as immediate disengagement, flickering driver alerts, and uncomfortable execution due to varying initial conditions and trajectories, leading to inconsistent responses.
Innovation Solution
A system and method that include a mission planner module to assess the readiness for ALC by calculating an index of readiness (RALC) based on the ALC request, current trajectory, and lane centering controls, and a lateral control module to perform stabilization operations before executing the ALC, ensuring the ALC is justified and safe.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If ALC operations are executed immediately upon request, then response time is reduced, but driver alert flickering and inconsistent system response occur
Solution Approach 1:
The system performs preliminary confidence building operations and calculates an index of readiness (RALC) before executing the ALC maneuver. This preliminary assessment ensures that the lane change is safe and conditions are favorable, preventing immediate disengagement and alert flickering while maintaining reliable system response.
2Speed
If ALC operations are executed without stabilization, then maneuver speed is maintained, but passenger comfort deteriorates due to lateral control errors
Solution Approach 1:
The system performs preliminary stabilization operations by applying steering corrections to reduce the index of readiness (RALC) below a threshold before executing the ALC maneuver. This ensures the vehicle is properly positioned and stabilized, minimizing lateral control errors and improving passenger comfort while maintaining efficient maneuver execution.
Data Source
AI summary
Systems and methods for smoothing automated lane change (ALC) operations. A mission planner, upon receipt of an ALC request, sends a ALC heads up signal to a lateral control. The mission planner then begins confidence building operations, for a preprogrammed duration of time, and awaits an ALC ready signal from the lateral control. The lateral control, upon receipt of the ALC heads up, calculates an index of readiness, RALC, as a function of the requested ALC, a current trajectory, and a lane centering control path. When RALC is less than or equal to a readiness threshold, Rt, the lateral control sends the ALC ready signal. When RALC is greater than Rt, the lateral control generates a steering correction and applies the steering correction to reduce the RALC and thereby stabilize the vehicle and send the ALC ready signal. Upon receiving the ALC ready signal, the ALC operation is executed.