Autonomous Pull-Over Control With Sequential Deceleration and Steering
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Solution Overview
Problem
Existing autonomous vehicle stop control methods discomfort occupants by simultaneously decelerating and moving the vehicle to the shoulder of the road, leading to unpredictable vehicle motion.
Innovation Solution
A travel control method and device that generate a control plan for sequential deceleration, pull-over, and stop controls, decelerating the vehicle before moving it to the shoulder to minimize occupant discomfort.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the vehicle simultaneously decelerates and moves to the shoulder of the road, then the stop control can be executed efficiently, but the occupant experiences strong discomfort due to unpredictable vehicle motion
Solution Approach 1:
The autonomous stop control is divided into three distinct sequential phases: deceleration control (decreasing speed without moving laterally), pull over control (moving to shoulder at constant low speed), and stop control (stopping at shoulder). This segmentation separates the deceleration and lateral movement actions that were previously simultaneous, making the vehicle motion predictable and comfortable for occupants while maintaining efficient stop execution
2Loss of time
If the vehicle moves to the shoulder of the road before decelerating, then the pull over operation can be completed quickly, but the occupant experiences strong discomfort due to lateral movement at high speed
Solution Approach 1:
The deceleration control phase is performed as a preliminary action before the pull over control phase. The vehicle speed is reduced to a constant low speed (5-15 km/h) before initiating lateral movement to the shoulder. This preliminary deceleration ensures that when the vehicle moves laterally during pull over control, the low speed minimizes occupant discomfort while still completing the operation efficiently
Data Source
AI summary
When a subject vehicle arrives at a destination while traveling, or when a driver of the subject vehicle becomes unable to drive during travel or when a failure occurs that interferes with the travel of the subject vehicle during the travel, a control plan for autonomous stop control is generated, the control plan comprising deceleration control for decreasing a speed of the subject vehicle; pulling over control for moving the subject vehicle from a lane in which the subject vehicle travels to the shoulder of the road; and stop control for stopping the subject vehicle at the shoulder of the road, and on a basis of this control plan, the autonomous stop control is performed to decelerate the subject vehicle and then move it to the shoulder of the road by individually and sequentially performing each of the deceleration control, the pulling over control, and the stop control.