Shoulder Start Path Control for Vehicles With Limited Rear Detection
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Solution Overview
Problem
Existing driving control systems face challenges in starting a vehicle from a stopped position on a road shoulder due to limited sensor detection ranges and diverse road conditions, which can lead to sudden braking when an unseen high-speed vehicle approaches from outside the detection range.
Innovation Solution
A driving control apparatus that recognizes the environment using external sensors to generate a target path, allowing the vehicle to start moving by waiting for approaching vehicles to pass if necessary deceleration is high, or by initially moving along a lateral position closer to the shoulder and then shifting to the lane center, minimizing reliance on sensor detection and traffic disruption.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the vehicle starts moving immediately from the shoulder without detecting vehicles behind, then the productivity is improved, but the reliability deteriorates due to potential sudden braking by unseen high-speed vehicles
Solution Approach 1:
The system performs preliminary detection of vehicles in the rear detection range before the vehicle starts moving from the shoulder. This advance detection allows the system to assess potential risks and determine whether it is safe to proceed with starting the vehicle, thus resolving the contradiction between immediate starting and safety assurance
Solution Approach 2:
The system continuously monitors the rear detection range for approaching vehicles and uses this feedback information to dynamically adjust the starting control. If a vehicle is detected that would require excessive deceleration, the system delays or prevents starting, thereby ensuring safety while maintaining productivity when conditions are favorable
2Reliability
If the vehicle waits for all approaching vehicles to pass before starting, then the safety is improved, but the productivity deteriorates due to extended waiting time
Solution Approach 1:
The system evaluates the deceleration parameter required for detected vehicles and compares it against a threshold. Instead of waiting for all vehicles regardless of their impact, the system only waits when the required deceleration exceeds the threshold, thus balancing safety with minimal waiting time and maintaining productivity
3Productivity
If the vehicle accelerates quickly from the shoulder, then the productivity is improved, but the reliability deteriorates as it reduces time to react to approaching vehicles
Solution Approach 1:
The system performs preliminary detection and assessment of the rear environment before the vehicle begins acceleration. By completing the safety assessment in advance, the system can then accelerate quickly without compromising response time, as the decision to accelerate has already been made based on pre-acquired information
Data Source
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AI summary
Provided is a starting mode configured to start moving a vehicle from a state of being stopped on a shoulder, comprising: (i) in a case in which another vehicle 3 is detected in a rear detection range, waiting for the other vehicle 3 to pass if a deceleration d estimated as necessary for the other vehicle 3 due to the start of movement by the vehicle 1 is equal to or greater than a prescribed threshold value, and starting the vehicle 1 if the deceleration d estimated as necessary for the other vehicle 3 is less than the prescribed threshold value; and (ii) in a case in which another vehicle is not detected in the rear detection range, executing a first step including: setting the target path to a first lateral position P1 closer to the shoulder than a current lane center; and starting the vehicle 1 to accelerate with driving along the first lateral position P1. Thereafter executing a second step including: setting the target path to a second lateral position P2 toward the current lane center (or the current lane center) in a state in which the vehicle 1 has accelerated to a predetermined speed; and switching the vehicle 1 to driving with keeping the second lateral position P2.