Autonomous Driving Path Plan Offset for Lane Change Comfort
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Solution Overview
Problem
In autonomous driving systems, the offset processing to reduce feelings of oppression and anxiety from adjacent large vehicles is often not executed correctly during lane changes, leading to increased anxiety and impaired comfort due to insufficient timing or omission of offset processing.
Innovation Solution
An autonomous driving system that determines the necessity of offset processing in the changed lane after a lane change based on the size and proximity of the preceding vehicle, and generates a path plan to connect to an offset path plan in the changed lane, ensuring appropriate execution of offset processing during lane changes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Object-affected harmful factors
If offset processing is executed before lane change, then the feeling of oppression and anxiety from adjacent vehicles is reduced, but the path plan becomes complicated and comfort is impaired when the preceding vehicle is present
Solution Approach 1:
The system determines whether offset processing is necessary before the lane change is executed. By assessing the presence and characteristics of the preceding vehicle in advance, the system can prepare the appropriate path plan without executing unnecessary offset processing, thus avoiding path plan complexity while ensuring comfort when needed
2Device complexity
If offset processing is executed after lane change, then the path plan remains simple, but the feeling of oppression and anxiety from the other vehicle cannot be reduced
Solution Approach 1:
The system performs preliminary determination of whether offset processing is necessary before the lane change occurs. This allows the system to execute offset processing at the appropriate time (after lane change when needed) while maintaining simple path plans by avoiding unnecessary pre-computation of complex offset paths
3Device complexity
If offset processing is omitted during lane change with preceding vehicle, then the path plan remains simple, but the comfort is impaired when the host vehicle overtakes the other vehicle
Solution Approach 1:
The system determines in advance whether offset processing is necessary by evaluating the presence and characteristics of the preceding vehicle. This preliminary assessment ensures that offset processing is executed only when truly necessary, maintaining simple path plans while ensuring comfort when the host vehicle overtakes another vehicle
Data Source
AI summary
An autonomous driving system according to the present disclosure is an autonomous driving system that causes a vehicle to autonomously travel along a path plan, and includes a memory and a processor. The processor is configured to execute a determination process of determining whether offset processing is necessary, the offset processing offsetting the path plan in a lane width direction with respect to a reference traveling position in a changed lane after a lane change when the lane change is performed in response to that a preceding vehicle is present, and a process of generating the path plan related to the lane change so as to connect to the path plan that is offset in the changed lane after the lane change when the offset processing is necessary.