Autonomous Travel Control Switching Ahead of Camera Blind Areas
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Solution Overview
Problem
Existing vehicle travel control systems experience large vehicle behavior when switching from camera-based autonomous control to map-based control due to delayed switching and target position deviations, leading to passenger discomfort.
Innovation Solution
Implementing a travel control apparatus that switches to map-based control before entering an unrecognizable area and adjusts target points to minimize deviations, using a control device that integrates sensors, a map database, and input devices to manage autonomous speed and steering control, thereby reducing vehicle behavior issues.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the system waits for camera recognition failure before switching to map-based control, then the camera system can continue to provide accurate control when available, but the switching delay causes large vehicle behavior and reduced stability
Solution Approach 1:
The control device switches to map-based autonomous control in advance before the vehicle enters the unrecognizable area where camera recognition fails. This preliminary switching action prevents the delay that would otherwise occur when waiting for recognition failure, thereby maintaining vehicle behavior stability while ensuring continuous accurate control.
2Adaptability or versatility
If the system switches control modes after camera recognition fails, then the camera system operates independently without interference, but the target position deviation increases causing vehicle behavior issues
Solution Approach 1:
The control device uses the unrecognizable area information from the map database as an intermediary condition to determine when to switch control modes. By proactively identifying areas where camera recognition will fail and switching before entry, the system maintains target position accuracy while allowing each control mode to operate independently within its appropriate domain.
3Device complexity
If the system uses camera-based control continuously, then the system structure remains simple, but the vehicle cannot maintain stable control when entering unrecognizable areas
Solution Approach 1:
The control device dynamically switches between camera-based autonomous control and map-based autonomous control modes based on the vehicle's location relative to unrecognizable areas. This dynamic adaptation allows the system to maintain simplicity in structure while ensuring reliable control stability by selecting the appropriate control mode for each operational context.
Data Source
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AI summary
The disclosure includes autonomously controlling the vehicle through operating an autonomous speed control function for autonomously controlling a traveling speed of the vehicle and an autonomous steering control function for autonomously controlling steering of the vehicle; executing first autonomous control in which when an external situation of the vehicle is recognizable from a captured image by a camera provided on the vehicle, the vehicle is autonomously controlled using information recognized from the captured image; executing second autonomous control in which information indicating the external situation of the vehicle is acquired from map information stored in a storage medium provided in the vehicle and the vehicle is autonomously controlled using the acquired information; specifying an unrecognizable area in which the external situation of the vehicle is unrecognizable from the captured image; and when the unrecognizable area is present on a travel route of the vehicle, switching from the first autonomous control to the second autonomous control before the vehicle enters the unrecognizable area.