Lane Keeping Assist Control Unit Trajectory Filtering
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Solution Overview
Problem
Conventional lane keeping assist control systems struggle to maintain stable vehicle positioning when an interrupting vehicle enters ahead, as they often adjust the vehicle's trajectory based on the interrupting vehicle's path, leading to sudden movements in the road-width direction.
Innovation Solution
A driving support apparatus that delays initiating lane keeping assist control based on the interrupting vehicle's trajectory until a predetermined deviation angle threshold is met, thereby preventing sudden movements by discarding the interrupting vehicle's trajectory until it has completed its interruption action.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If the lane keeping assist control immediately uses the interrupting vehicle's trajectory, then the vehicle can quickly adapt to the new situation, but the own vehicle experiences sudden movements in the road-width direction and cannot travel stably
Solution Approach 1:
The system performs preliminary evaluation of the interrupting vehicle's trajectory before initiating lane keeping assist control. It calculates the deviation angle between the interrupting vehicle's trajectory and the own vehicle's current trajectory in advance, and only starts control when the deviation angle is within the predetermined threshold, preventing sudden movements from the outset
Solution Approach 2:
The deviation angle threshold acts as an intermediary criterion between detecting the interrupting vehicle and initiating lane keeping assist control. This intermediate evaluation step filters out trajectories that would cause unstable movements, allowing the system to respond quickly only to safe, appropriate situations
2Stability of the object's composition
If the lane keeping assist control waits for the interrupting vehicle to complete its action before starting, then the vehicle travels stably, but the response time is delayed
Solution Approach 1:
The system performs preliminary evaluation of the interrupting vehicle's trajectory characteristics (deviation angle calculation) while the interrupting vehicle is still maneuvering. This allows the system to be ready to initiate control immediately when the deviation angle becomes acceptable, rather than waiting until the maneuver is complete
Solution Approach 2:
The system dynamically adjusts its response based on the real-time deviation angle between the interrupting vehicle's trajectory and the own vehicle's current trajectory. Instead of using a fixed wait time or condition, the control initiation timing adapts to the actual geometric relationship, optimizing both response speed and stability
Data Source
AI summary
A driving support apparatus for an own vehicle includes a lane keeping assist control unit. When an interrupting vehicle enters ahead of the own vehicle in (i) a situation in which no preceding vehicle is present ahead of the own vehicle, or (ii) a situation in which a preceding vehicle is present ahead of the own vehicle, while a deviation angle formed between a direction of a traveling trajectory of the interrupting vehicle and a traveling direction of the own vehicle is larger than a threshold, the lane keeping assist control unit is configured not to perform a lane keeping assist control based on the traveling trajectory of the interrupting vehicle, and is configured to discard the traveling trajectory of the interrupting vehicle. On and after the deviation angle becomes equal to or smaller than the threshold, the lane keeping assist control unit is configured to perform the lane keeping assist control based on the traveling trajectory of the interrupting vehicle.