Lane Change Control with Dynamic Start Point Adjustment
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Solution Overview
Problem
Autonomous vehicles experiencing significant deviation from the center of a lane during lane changes can cause occupants to feel uncomfortable due to sudden increases in steering angle, leading to anxiety.
Innovation Solution
A vehicle control apparatus and method that adjusts the lane change start target point based on the degree of deviation from the lane center, setting a new target point to minimize the steering angle change and ensure a smooth transition.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the lane change start target point is set at the center of the driving lane, then the lane change follows a standard path, but the steering angle increases suddenly when the vehicle is biased from the center, causing occupant discomfort
Solution Approach 1:
The lane change start target point is dynamically adjusted based on the vehicle's actual position relative to the lane center. When the vehicle is biased from the center, the target point is shifted accordingly, making the steering angle adjustment gradual and comfortable for occupants while still achieving accurate lane changes.
Solution Approach 2:
The system changes the parameter of the lane change start target point position based on the vehicle's bias degree. By calculating the offset distance from the lane center and adjusting the target point position proportionally, the system optimizes both path accuracy and steering smoothness.
2Manufacturing precision
If additional steering is applied to correct vehicle bias from lane center, then the vehicle can reach the lane change start target point, but the steering angle increases suddenly causing occupant anxiety
Solution Approach 1:
The system performs preliminary adjustment by shifting the lane change start target point before the lane change maneuver begins. This preliminary action accounts for the vehicle's bias position, so that when the lane change executes, the steering angle increases gradually rather than suddenly, maintaining smoothness while achieving position accuracy.
3Device complexity
If the lane change start target point is fixed at the lane center, then the control logic is simple, but it cannot adapt to situations where the vehicle is biased from the center
Solution Approach 1:
The system applies local quality adjustment by modifying only the lane change start target point position based on local vehicle bias conditions, rather than changing the entire lane change control strategy. This maintains overall control logic simplicity while adding adaptability to biased positions.
Solution Approach 2:
The lane change start target point transitions from a fixed position to a dynamic position that adapts to vehicle bias. The system calculates the bias degree and adjusts the target point accordingly, enabling the control system to adapt to various driving situations while maintaining relatively simple control logic.
Data Source
AI summary
A vehicle control apparatus includes one or more sensors that obtain information related to a vehicle being driven within a driving lane. The vehicle control apparatus further includes a processor that sets a lane change start target point with respect to a center of the driving lane. The processor sets at least one new lane change start target point based on a position of the vehicle if it is determined that a center of a bumper of the vehicle is biased in one direction with respect to the center of the driving lane.