Autonomous Vehicle Minimal Risk Maneuvers Within Allowance Space
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Solution Overview
Problem
Advanced driver assistance systems (ADAS) in autonomous vehicles may encounter abnormalities during autonomous driving, leading to dangerous situations if appropriate measures are not taken.
Innovation Solution
An apparatus and method for controlling autonomous driving that identifies a minimal risk maneuver type, sets an allowance space for the vehicle to stop safely, and controls the vehicle to execute this maneuver, considering factors like stopping available distance, collision risk, and lane departure distance, using sensors and processors to manage deceleration and lateral positioning.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the vehicle executes a minimal risk maneuver to stop safely, then collision risk is reduced, but stopping distance and time are increased
Solution Approach 1:
The system performs preliminary identification of allowance space and selection of stop type before executing the minimal risk maneuver. By pre-calculating stopping available distance, collision risk distance, and lane departure distance, the system prepares the optimal stopping strategy in advance, enabling safer stopping with reduced distance and time.
Solution Approach 2:
The system dynamically adjusts the minimal risk maneuver based on real-time conditions by selecting from multiple stop types (shoulder stop, straight stop, stop within lane) and adjusting deceleration rates. This dynamic adaptation allows the vehicle to optimize stopping distance and time according to the specific allowance space and environmental conditions.
2Length of moving object
If the vehicle decelerates rapidly to stop within allowance space, then stopping distance is reduced, but control stability deteriorates
Solution Approach 1:
The system pre-determines the allowance space and selects the appropriate stop type before initiating rapid deceleration. By having the stopping strategy ready in advance, the system can execute rapid deceleration smoothly without sudden control changes, maintaining stability while achieving short stopping distance.
Solution Approach 2:
The system changes deceleration parameters dynamically based on the selected stop type and allowance space characteristics. By adjusting deceleration rate, lateral acceleration, and steering angle in a coordinated manner, the system achieves rapid stopping while maintaining control stability through optimized parameter transitions.
3Reliability
If the vehicle advances the deceleration time point to stop within allowance space, then collision risk is reduced, but maneuver time is increased
Solution Approach 1:
The system pre-identifies the allowance space and determines the optimal deceleration start time point before executing the maneuver. By calculating collision risk distance and comparing it with stopping available distance, the system advances deceleration to the optimal moment, reducing collision risk while minimizing the time lost during the maneuver.
Data Source
AI summary
An apparatus for controlling autonomous driving of a vehicle is introduced. The apparatus may comprise at least one sensor, a controller configured to control operation of the vehicle, a processor configured to be electrically coupled to the at least one sensor and the controller, wherein the processor is further configured to identify, based on a condition for a minimal risk maneuver being satisfied, a minimal risk maneuver type, set, based on the identified minimal risk maneuver type, an allowance space in which the vehicle is able to stop, output a signal associated with the allowance space, and control, based on the signal, autonomous driving of the vehicle such that the vehicle stops within the allowance space.