Lane Change Assist Trajectory Recalculation for Driver Steering Input
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Solution Overview
Problem
Conventional lane change assist systems fail to accurately reflect the driver's intended trajectory during lane changes, as they continue to use the initial target trajectory even after the driver performs steering operations, potentially leading to unintended lane change paths.
Innovation Solution
A lane change assist apparatus that includes a lane recognition unit, a target trajectory calculation unit, and an assist control unit, which determines if the driver has performed a steering operation and recalculates the target trajectory based on the vehicle's lateral position and movement state at that time, allowing the vehicle to change lanes along the driver's intended path.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the initial target trajectory is used throughout the lane change assist control, then the control system remains simple and stable, but the trajectory does not reflect the driver's intended path when the driver performs additional steering operations
Solution Approach 1:
The target trajectory is made dynamic by allowing recalculation during lane change assist control when driver steering operations are detected. The trajectory calculation unit recalculates the target trajectory based on the vehicle's current lateral position and movement state at the time of steering operation, enabling the system to adapt to driver intentions while maintaining computational efficiency through conditional recalculation rather than continuous updates.
2Measurement precision
If the target trajectory is recalculated frequently in response to driver steering operations, then the trajectory accuracy reflects driver intention, but the calculation burden and system response time increase
Solution Approach 1:
The steering operation determination unit continuously monitors for driver steering operations in advance, so when a steering operation is detected, the target trajectory calculation unit can immediately recalculate the trajectory without delay. This preliminary monitoring ensures that trajectory recalculation occurs at the optimal moment, balancing accuracy with minimal calculation time loss.
3Extent of automation
If the lane change assist control completely overrides the driver's steering operations, then the vehicle follows the calculated target trajectory precisely, but the driver loses control and cannot adjust the lane change path
Solution Approach 1:
The system incorporates feedback by detecting driver steering operations during lane change assist control and using this information to recalculate the target trajectory. This feedback loop ensures that the automated control system responds to driver intentions, maintaining both high automation levels and driver control by continuously adapting the trajectory based on actual driver input.
Data Source
AI summary
A driving support ECU initializes a target trajectory calculation parameter at a start of LCA; calculates, based on the target trajectory calculation parameter, a target trajectory function representing a target lateral position which is a target position of an own vehicle in a lane width direction in accordance with an elapsed time from the start of LCA; calculates a target control amount based on the target trajectory function; when a steering operation by a driver has been detected, again initializes the target trajectory calculation parameter; and recalculates the target trajectory function based on the target trajectory calculation parameter.