Route Generation Device for Continuous Lane Change Control
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Solution Overview
Problem
Existing vehicle lane change control devices experience route discontinuity due to vehicle position deviations caused by environmental disturbances, location information errors, and vehicle control errors, leading to unstable vehicle behavior.
Innovation Solution
A route generation device and method that include a position obtaining unit, first and second route extraction units, and a route calculation unit to generate a continuous target route by calculating third points in sequence based on first and second points, using reference and corresponding points on lines connecting these sequences, ensuring a smooth lane change.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the target route is calculated based on the vehicle position at the time of route generation, then the route calculation is simple and fast, but the target route becomes discontinuous when the vehicle position deviates from the planned route, causing unstable vehicle behavior
Solution Approach 1:
The system pre-calculates multiple candidate routes corresponding to different possible vehicle positions before the lane change maneuver begins. By having these routes prepared in advance, the system can smoothly transition between them based on actual vehicle position deviations, ensuring route continuity without complex real-time recalculation when the vehicle strays from the planned path.
Solution Approach 2:
The target route is made dynamic by allowing smooth transitions between multiple pre-calculated routes based on real-time vehicle position feedback. Instead of using a single static route, the system dynamically selects and blends between alternative routes to maintain continuity, transforming the route from a fixed plan to an adaptive path that responds to position deviations.
2Reliability
If the vehicle strictly follows the pre-set target route, then the lane change control is precise, but the vehicle behavior becomes unstable when position deviations occur due to environmental disturbances or measurement errors
Solution Approach 1:
The system prepares multiple candidate routes in advance that account for potential position deviations. By having alternative routes ready before the maneuver begins, the system cushions against the impact of position errors and environmental disturbances, allowing smooth transitions without sudden corrections that would cause unstable vehicle behavior.
Solution Approach 2:
The system continuously monitors actual vehicle position during the lane change maneuver and uses this feedback to determine which pre-calculated route to follow. This closed-loop feedback mechanism allows the system to adapt to position deviations caused by measurement errors or environmental factors while maintaining stable and predictable vehicle behavior through smooth route transitions.
Data Source
AI summary
A route generation device and a travel control device for suppressing a target route of a vehicle to be discontinuous before and after starting a lane change are obtained. A position obtaining unit obtains location information of the vehicle. A first route extraction unit extracts the target route as first points in sequence assuming that the vehicle continues to travel in the lane in which the vehicle is traveling before starting the lane change. The second route extraction unit extracts the target route a target route as second points in sequence assuming that the vehicle is currently traveling in an adjacent lane in which the vehicle travels after completing the lane change, and the vehicle continues to travel in the adjacent lane. The route calculation unit calculates the third points representing the target route.