Autonomous Lane Change Control for Driver Steering Intervention
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Solution Overview
Problem
Conventional lane change assisting devices for autonomous vehicles fail to effectively manage driver steering interventions during autonomous lane changes, leading to frequent cancellation of autonomous driving mode, which can annoy drivers, or continued autonomous driving that does not align with the driver's intentions.
Innovation Solution
A control device for vehicle traveling that prioritizes driver steering interventions over autonomous lane change control, allowing the driver to take control immediately and announces termination of autonomous driving when the interventions indicate a mismatch in intentions, while continuing autonomous driving when interventions do not force a lane change.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the autonomous driving mode is canceled whenever there is a steering intervention by the driver, then the driver's immediate control is ensured, but frequent cancellation causes annoyance to the driver
Solution Approach 1:
The system applies different response strategies to different types of steering interventions. When the intervention direction matches the autonomous lane change direction, the mode is maintained. When the intervention direction opposes the autonomous lane change direction, the mode is canceled. This localized differentiation resolves the contradiction by treating matching interventions as cooperative actions that don't require mode cancellation, while still ensuring control for opposing interventions.
Solution Approach 2:
The autonomous driving control mode dynamically adjusts its response to steering interventions based on the relationship between intervention direction and autonomous lane change direction. The system transitions between maintaining and canceling the mode depending on whether the driver's action aligns with or opposes the autonomous system's intended action, making the control system adaptive rather than static.
2Productivity
If the autonomous driving mode is never canceled at all times, then continuous autonomous operation is maintained, but the driver may feel discomfort when autonomous driving does not align with driver intention
Solution Approach 1:
The system applies different continuity policies to different intervention scenarios. For matching-direction interventions, autonomous driving continues without interruption. For opposing-direction interventions, the mode is canceled to prevent discomfort. This selective application of continuity policies resolves the contradiction between maintaining productivity and avoiding driver discomfort.
Solution Approach 2:
The system continuously monitors the relationship between driver steering interventions and autonomous lane change directions, using this feedback to determine whether to maintain or cancel the autonomous mode. This feedback mechanism ensures the system responds appropriately to driver intentions while maintaining continuity when appropriate, resolving the contradiction between productivity and driver comfort.
3Ease of operation
If the system prioritizes driver steering intervention over autonomous lane change control, then driver control is achieved immediately, but the autonomous driving mode may be canceled inappropriately
Solution Approach 1:
The system applies priority rules selectively based on the relationship between intervention direction and autonomous lane change direction. When directions match, autonomous mode continues with driver input integrated. When directions oppose, driver input takes priority and cancels autonomous mode. This localized priority application ensures driver control is achieved when necessary while maintaining reliability by avoiding inappropriate cancellations.
Data Source
AI summary
The autonomous LC control is started in response to receiving a start instruction of autonomous lane change. When the driver performs a steering intervention in a same direction as a direction of steering requested by the autonomous LC control, and establishment of a stop condition of lane change is not recognized, during execution of the autonomous LC control, the autonomous driving control is continued. When the steering intervention in the same direction is performed, and establishment of the stop condition is recognized, during execution of the autonomous LC control, termination of the autonomous driving control is announced.