Steering Assist Device Yaw Angle Return Control for Lane Recognition Failure
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Solution Overview
Problem
Existing lane change assist systems face challenges when lane recognition fails, leading to potential collisions and driver unease due to unpredictable vehicle behavior, as they struggle to manage lateral speed and handover steering operations effectively.
Innovation Solution
A steering assist device that includes lane recognition, lane change assist control, recognition failure state detection, yaw angle return control, and notification mechanisms to ensure safe lane changes and timely driver intervention when lane recognition fails, reducing lateral speed and preventing lane departures.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If lane change assist control is executed based on camera sensor recognition, then automated lane changing is achieved, but collision risk increases when recognition fails
Solution Approach 1:
The system performs preliminary actions by detecting recognition failure states before collisions can occur. When the camera sensor fails to recognize lanes, the system proactively reduces lateral speed and prepares for driver handover, preventing the harmful effect of automated control continuing with invalid data.
Solution Approach 2:
The system implements feedback by continuously monitoring recognition status and using this information to adjust control behavior. When recognition failure is detected, the feedback loop triggers speed reduction and driver notification, creating a closed-loop safety mechanism that adapts to changing recognition conditions.
2Reliability
If brake control is used to reduce vehicle speed when lane recognition fails, then collision risk is reduced, but driver comfort deteriorates due to unexpected deceleration
Solution Approach 1:
The system applies preliminary anti-action by reducing lateral speed (not longitudinal speed) in response to recognition failure. This counteracts the potential harmful effect of continued automated control with invalid data, while avoiding the negative effect of unexpected brake-induced deceleration that would discomfort the driver.
Solution Approach 2:
Instead of using longitudinal brake control to address recognition failure, the system inverts the approach by controlling lateral speed through steering adjustments. This alternative method achieves collision prevention without the unwanted side effect of unexpected longitudinal deceleration.
3Reliability
If lane change assist control is simply ended when recognition fails, then automated control stops, but lateral speed continues causing lane departure
Solution Approach 1:
The system performs preliminary action by reducing lateral speed before the vehicle can depart from the lane. This proactive measure ensures that when automated control ends due to recognition failure, the vehicle is already in a stable state with minimized lateral movement, preventing lane departure.
Solution Approach 2:
The system applies beforehand cushioning by reducing lateral speed in advance of potential lane departure. This creates a buffer state where the vehicle's lateral motion is dampened, cushioning against the harmful effect of lane departure that would otherwise occur when automated control terminates.
4Stability of the object's composition
If lateral speed is reduced to prevent lane departure, then vehicle stability is improved, but time for driver handover is insufficient
Solution Approach 1:
The system performs preliminary action by reducing lateral speed and notifying the driver simultaneously, rather than sequentially. This allows the vehicle to enter a stable state while the driver has adequate time to prepare for handover, resolving the time conflict between stabilization and driver response.
5Manufacturing precision
If continuous steering control is applied during lane change assist, then lane changing accuracy is improved, but driver unease increases when recognition fails
Solution Approach 1:
The system applies dynamics by making steering control conditional on recognition status. When recognition is valid, continuous steering control provides accurate lane changing. When recognition fails, the system dynamically adjusts by reducing lateral speed and enabling driver override, adapting control behavior to changing conditions to maintain both accuracy and driver acceptance.
Data Source
AI summary
A steering control device includes a driving support ECU. When white line recognition loss, which is a state in which white lines are not properly recognizable, has occurred during execution of an LCA, the driving support ECU calculates a target trajectory for returning a yaw angle to a state immediately before the start of the LCA. The driving support ECU controls a steering angle based on the calculated target trajectory. As a result, a lateral speed of an own vehicle is reduced, and thus sufficient time can be secured for handing over operation of a steering wheel to a driver from a steering assist state.