Vehicle Merge Speed Control Using Pole-Assignment Alignment
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Solution Overview
Problem
Conventional automated driving technologies face difficulties in smoothly adjusting vehicle speed during merge-point-related movements or lane changes, as they struggle to align the vertical position of the vehicle with a target inter-vehicle position effectively.
Innovation Solution
A vehicle control device and method that recognizes the surrounding situation, determines a target relative position and speed, and adjusts the vehicle's speed using pole-assignment control to couple position and speed deviations to zero, incorporating feedback and equivalent control inputs to ensure smooth alignment.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If conventional speed adjustment methods are used during merge-point-related movement or lane change, then the vehicle can change lanes, but the speed adjustment is not smooth and the vertical position alignment with target inter-vehicle position is difficult
Solution Approach 1:
The control device calculates position deviation between the host vehicle and target inter-vehicle position, and speed deviation from target speed, then uses these feedback signals in pole-assignment control to continuously adjust the vehicle speed, achieving smooth speed adjustment while maintaining precise vertical position alignment during lane changes
Solution Approach 2:
The system dynamically changes the target speed parameter based on the calculated speed deviation and position deviation, adjusting the target speed smoothly rather than using fixed speed values, which enables continuous and smooth speed adaptation during merge-point-related movement and lane change operations
2Manufacturing precision
If pole-assignment control is implemented to align vertical position with target inter-vehicle position, then position alignment precision is improved, but the control system complexity increases
Solution Approach 1:
The pole-assignment control uses feedback from position deviation and speed deviation calculations to dynamically adjust control inputs, achieving precise vertical position alignment through continuous error correction rather than complex open-loop control sequences
Solution Approach 2:
The control device introduces an intermediate target speed parameter that mediates between the current vehicle speed and the desired speed for maintaining vertical position alignment, allowing smooth transitions without requiring complex direct control of acceleration and deceleration
Data Source
AI summary
A vehicle control device configured to recognize a surrounding situation of a host vehicle, control at least a speed of the host vehicle based on the surrounding situation, determine a target relative position between two other vehicles in a state in which there is no vehicle in a second lane when the host vehicle is allowed to perform merge-point-related movement or a lane change from a first lane to the second lane, determine a target speed serving as a target when the host vehicle reaches the target relative position, and adjust the speed of the host vehicle according to pole-assignment control based on a position deviation that is a deviation between the target relative position and a position of the host vehicle in a road extension direction and a vehicle speed deviation that is a deviation between the speed of the host vehicle and the target speed.