Steering Control for Passing Obstacles Without Close Third-Obstacle Approach
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Solution Overview
Problem
Existing vehicle control systems may cause discomfort to occupants by approaching obstacles too closely, especially when there are additional obstacles closer than the primary obstacles on either side, due to steering controls that do not adequately account for multiple obstacles in the path.
Innovation Solution
A vehicle control device with a steering control unit that assesses the surrounding environment and travel state to suppress steering towards closer obstacles, prioritizing passage between primary obstacles and avoiding closer third obstacles, while considering the presence of occupants and living organisms to adjust steering controls accordingly.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the vehicle performs steering control to pass between the first obstacle and the second obstacle, then the interference with these obstacles is avoided, but the vehicle may approach the third obstacle too closely causing discomfort to occupants
Solution Approach 1:
The control unit performs preliminary assessment of multiple obstacles before executing steering control. By identifying the third obstacle that is closer than the first and second obstacles, the system pre-adjusts the steering control to avoid approaching the third obstacle too closely, thereby preventing occupant discomfort before it occurs
Solution Approach 2:
The control unit acts as an intermediary between the steering control system and the obstacles. It mediates the steering commands by considering the positions of all obstacles (first, second, and third) and adjusting the control output to balance obstacle avoidance with maintaining safe distances from closer obstacles, thus resolving the conflict between reliability and comfort
2Object-affected harmful factors
If the steering control is suppressed when a third obstacle exists, then the approach to the third obstacle is reduced, but the ability to avoid the first and second obstacles may be compromised
Solution Approach 1:
The steering control is made dynamic by continuously adjusting it based on the relative positions of multiple obstacles. Rather than simply suppressing or enabling control, the system dynamically modulates the steering commands to navigate through the complex obstacle field, allowing the vehicle to avoid the first and second obstacles while maintaining appropriate distance from the third obstacle
Solution Approach 2:
The control unit changes the steering parameters (such as steering angle, speed, and timing) based on the detected obstacle configuration. By modifying these parameters in response to the presence of the third obstacle, the system achieves both goals: avoiding the first and second obstacles while preventing excessive approach to the third obstacle
Data Source
AI summary
A vehicle control device is configured to include a steering control unit. The steering control unit is configured to perform a steering control such that a vehicle passes between a first obstacle of which a position in a lateral direction is closest to the vehicle, among one or multiple obstacles existing ahead of the vehicle on a left side of the traveling direction and a second obstacle of which a position in the lateral direction is closest to the vehicle, among one or multiple obstacles existing ahead of the vehicle on a right side of the traveling direction, and if there exists a third obstacle closer to the vehicle than the first obstacle and the second obstacle, inhibit the steering control to one side where the third obstacle exists either on the left side of the traveling direction or the right side of the traveling direction.