Obstacle Avoidance Apparatus With Dynamic No-Entry Zone Constraints
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Solution Overview
Problem
Existing obstacle avoidance systems for vehicles cannot clearly specify the avoidance distance between a subject vehicle and an obstacle, leading to potential collisions and compromised riding comfort due to unclear evaluation functions.
Innovation Solution
An obstacle avoidance apparatus that includes an obstacle movement predictor, constraint generator, evaluation function setting unit, solution computing unit, and target value computing unit, which predicts obstacle movement, sets constraints to prevent collisions, and computes optimal steering controls to maintain a safe distance and route following error, thereby specifying the avoidance distance and improving riding comfort.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If an evaluation function with weights is used to determine avoidance distance, then the obstacle avoidance apparatus can control the subject vehicle to follow a predicted travel path, but the avoidance distance cannot be clearly specified and may yield collision paths
Solution Approach 1:
The patent divides the space around the obstacle into multiple zones (no-entry zone, avoidance zone, safe zone) with different constraints. This segmentation allows the system to clearly specify avoidance distance by defining explicit boundaries rather than relying on a single weighted evaluation function, thereby resolving the contradiction between automated control and precise distance specification.
Solution Approach 2:
The patent changes the parameter representation from continuous weighted evaluation to discrete zonal constraints. By defining the no-entry zone with specific geometric parameters (distance, angle, radius), the system achieves clear avoidance distance specification while maintaining automated steering control through constraint-based optimization.
2Manufacturing precision
If the subject vehicle steers closely around an obstacle to maintain lane position, then lane keeping performance is improved, but the avoidance distance becomes insufficient and collision risk increases
Solution Approach 1:
The patent applies preliminary action by defining the no-entry zone in advance based on obstacle position and vehicle dimensions before the avoidance maneuver begins. This pre-defined constraint ensures that the vehicle maintains sufficient avoidance distance while steering, preventing collisions while preserving lane keeping accuracy through constraint-based path optimization.
3Reliability
If the avoidance distance is increased to ensure safety, then collision risk is reduced, but the route following error increases and riding comfort deteriorates
Solution Approach 1:
The patent applies dynamics by making the no-entry zone parameters (distance, angle, radius) dynamically adjustable based on vehicle speed, obstacle type, and environmental conditions. This allows the system to optimize the balance between avoidance distance for safety and route following accuracy for riding comfort, resolving the contradiction through adaptive constraint adjustment.
Data Source
AI summary
Provided is an obstacle avoidance apparatus that can specify a distance between a subject vehicle and an obstacle when making the subject vehicle avoid the obstacle. An obstacle avoidance apparatus includes: an obstacle movement predictor that predicts movement of the obstacle; and a constraint generator that establishes a constraint on a state quantity or a control input of the subject vehicle by determining whether to steer right or left around the obstacle and defining a no-entry zone for preventing the subject vehicle from colliding with the obstacle. The constraint generator incorporates, into the no-entry zone, an area to the left of the obstacle when determining to steer right around the obstacle, and incorporates, into the no-entry zone, an area to the right of the obstacle when determining to steer left around the obstacle.