Low-Speed Vehicle Path Prediction for Collision Avoidance Control
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Solution Overview
Problem
Existing model prediction methods for autonomous vehicles fail to accurately predict traveling paths and collision probabilities in environments with low slipperiness or low vehicle speeds, and do not consider obstacle characteristics, leading to potential errors in path prediction and collision determination.
Innovation Solution
A vehicle control device that calculates a turning radius based on steering angle and ratio, predicts vehicle and target paths using sensors, sets a collision determination boundary region, and determines collision probability to control warning, braking, or avoidance actions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a turning radius is calculated using a yaw rate sensor in a typical model prediction method, then the vehicle's traveling path can be predicted, but the prediction accuracy deteriorates in environments with low slipperiness or low vehicle speeds
Solution Approach 1:
The patent changes the calculation parameters from using yaw rate sensor data to using steering angle sensor data combined with vehicle speed and wheel pulse signals. This parameter substitution resolves the issue where yaw rate-based turning radius calculations become inaccurate in low slipperiness or low speed conditions, thereby maintaining reliable traveling path prediction across all driving environments
Solution Approach 2:
The patent replaces the mechanical sensing approach (yaw rate sensor) with an integrated computational approach combining steering angle sensor, vehicle speed sensor, and wheel pulse signal processing. This substitution eliminates the fundamental limitation of yaw rate sensors in certain driving conditions while maintaining the ability to calculate accurate turning radius and predict traveling paths
2Device complexity
If a uniform collision probability determination method is used without considering obstacle characteristics, then the calculation process is simple, but the collision probability determination accuracy deteriorates
Solution Approach 1:
The patent applies local quality by determining collision probability differently based on the type of obstacle detected. Rather than using a uniform approach, the system adjusts collision probability calculations according to specific obstacle characteristics (such as vehicle type, pedestrian, cyclist, etc.), thereby improving determination accuracy while maintaining reasonable system complexity through targeted differentiation
Data Source
AI summary
The present disclosure relates to a vehicle control method, a vehicle control device, and a vehicle control system including same. Specifically, a vehicle control device according to the present disclosure includes: a vehicle travel route estimation unit which estimates a first travel route of a vehicle on the basis of the turn radius and traveled distance of the vehicle, when the speed of the vehicle is equal to or less than a preset speed; a target travel route predicter which confirms a target from periphery detection information about the periphery of the vehicle, and predicts a second travel route of the target; a collision determiner which determines whether there is a possibility of a collision between the vehicle and the target; and a vehicle control unit which controls to perform at least one among an alert control, a brake control, and an avoidance control, when there is a possibility of a collision between the vehicle and the target.