Autonomous Steering Control Termination for Lateral Obstacles
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Solution Overview
Problem
Existing collision avoidance assist systems may cause vehicles to turn excessively due to calculation errors, increasing the risk of secondary accidents by not properly orienting the vehicle relative to laterally extending obstacles.
Innovation Solution
A collision avoidance assist apparatus with a sensor and electronic control unit that detects laterally extending obstacles and executes autonomous steering control, setting a control termination angle based on the obstacle's direction and vehicle position, allowing for precise orientation and termination of steering control to prevent excessive turning and collisions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a control termination angle is set by adding a margin angle to ensure sufficient turning, then the vehicle can avoid collision with the obstacle, but the vehicle may turn excessively and encounter secondary accidents
Solution Approach 1:
The patent applies dynamics by making the control termination angle adjustable based on real-time tracking of the obstacle. The system dynamically modifies the target angle θ* from the initial θ* = θt + θm to a final angle that accounts for actual vehicle position and obstacle location, allowing the control parameter to adapt during execution rather than remaining fixed
Solution Approach 2:
The patent implements feedback by continuously monitoring the vehicle's actual position and orientation during autonomous steering control. The system uses sensor data to detect the vehicle's current state and compares it with the target state, then adjusts the control termination angle based on this feedback to prevent both insufficient turning and excessive turning
2Device complexity
If the autonomous steering control turns the vehicle by a fixed control termination angle, then the control logic is simple, but calculation errors may cause insufficient turning and collision
Solution Approach 1:
The patent applies preliminary action by pre-calculating a control termination angle with a margin angle added (θ* = θt + θm) to compensate for potential calculation errors and steering response delays. This preliminary adjustment ensures that even with errors, the vehicle will achieve sufficient turning to avoid the obstacle
Solution Approach 2:
The patent implements feedback by continuously monitoring the vehicle's actual position and orientation during autonomous steering control. The system uses sensor data to detect the vehicle's current state and compares it with the target state, then adjusts the control termination angle based on this feedback to prevent both insufficient turning and excessive turning
Data Source
AI summary
A collision avoidance assist apparatus starts an autonomous steering control to autonomously steer and turn an own vehicle to orient the own vehicle in a laterally extending direction of an obstacle to avoid a collision of the own vehicle with the obstacle when the own vehicle potentially collides with the obstacle. The apparatus sets a first condition as a control termination condition used to determine whether to terminate the autonomous steering control, based on a laterally extending direction of the obstacle relative to the own vehicle when starting the autonomous steering control. The apparatus terminates the autonomous steering control when the obstacle is tracked, and a second condition different from the first condition becomes satisfied. The apparatus terminates the autonomous steering control when the obstacle is not tracked, and the first condition becomes satisfied.