Vehicle Lane-Keeping Obstacle Avoidance Using a Virtual Rear-Vehicle Line
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Solution Overview
Problem
Automated lane keeping systems (ALKS) in vehicles may fail to effectively avoid obstacles within the driving lane when lane changes are impossible, leading to potential accidents due to rear vehicles not recognizing the obstacle in time.
Innovation Solution
A vehicle control apparatus and method that generates an avoidance route within the driving lane using a virtual line connecting the rear vehicle to the obstacle, setting drivable avoidance areas, and controlling acceleration or deceleration to allow the vehicle to safely navigate around the obstacle.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the vehicle changes lane to avoid the obstacle, then the obstacle avoidance capability is improved, but the rear vehicle cannot recognize the obstacle in time leading to potential accidents
Solution Approach 1:
The patent introduces an intermediary communication system (V2V communication) between the obstacle-detecting vehicle and the rear vehicle. This mediator transmits obstacle information from the first vehicle to the second vehicle, enabling the rear vehicle to recognize the obstacle without requiring lane changes. The communication system acts as a bridge that shares critical safety information across vehicles.
Solution Approach 2:
The system performs preliminary action by having the first vehicle detect and communicate obstacle information to the rear vehicle before the rear vehicle reaches the obstacle. This advance notification allows the rear vehicle to prepare for potential hazard avoidance measures, such as reducing speed or changing lane, thereby preventing accidents before they occur.
2Stability of the object's composition
If the vehicle maintains lane keeping to improve stability, then the driving stability is improved, but the vehicle cannot avoid obstacles within the driving lane
Solution Approach 1:
The patent implements dynamic lane keeping that adapts to obstacle conditions. When an obstacle is detected within the driving lane, the system dynamically adjusts the lane keeping behavior by generating an avoidance route that deviates from the standard lane center path. The vehicle maintains stability through controlled deviation rather than abrupt lane changes, balancing stability and obstacle avoidance based on real-time conditions.
Solution Approach 2:
The system applies preliminary anti-action by proactively planning avoidance routes when obstacles are detected within the driving lane. Instead of waiting for the obstacle to become a critical threat, the system pre-calculates and executes avoidance maneuvers that maintain driving stability while preventing potential collisions. This includes adjusting the vehicle path in advance to clear the obstacle safely.
3Loss of information
If the vehicle generates avoidance route within driving lane, then the rear vehicle can recognize the obstacle, but the driving stability may be affected by route adjustments
Solution Approach 1:
The patent applies partial action by having the vehicle make controlled, partial deviations from the lane center to generate avoidance routes, rather than performing excessive actions like full lane changes. These partial path adjustments are sufficient to improve obstacle visibility to the rear vehicle while minimizing disruptions to driving stability. The system carefully calibrates the extent of path deviation to achieve the minimum necessary for obstacle recognition.
Data Source
AI summary
An embodiment vehicle control apparatus includes a sensor configured to obtain a location of an obstacle in a driving lane of a vehicle and a location of a rear vehicle driving in the driving lane and a controller configured to set an avoidance area within the driving lane based on a virtual line connecting the rear vehicle to the obstacle and to generate an avoidance route for the vehicle for avoiding the obstacle based on the avoidance area in response to a determination that it is not possible for the vehicle to change lanes to avoid the obstacle in the driving lane while a driving assistance function is activated.