Driving Assistance Trajectory Control for Level-Difference Angles
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Solution Overview
Problem
When a vehicle climbs over a level difference at an angle other than 90 degrees, it experiences steering wheel disturbance, leading to deviation from the target travel trajectory, which can result in collisions with obstacles.
Innovation Solution
A driving assistance method and device that use sensors and a controller to generate a target travel trajectory with a level-difference climbing-over angle greater than a predetermined threshold, reducing steering wheel disturbance and maintaining the vehicle on the target path by adjusting the trajectory and speed profile.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If the vehicle travels along a preset target travel trajectory in self-driving control, then the vehicle can autonomously navigate along the planned path, but deviation from the target travel trajectory occurs when the vehicle climbs over a level difference at an angle other than 90 degrees
Solution Approach 1:
The system performs preliminary detection of level differences using map data and sensor information before the vehicle reaches them. The control device pre-calculates the optimal crossing angle and adjusts the target travel trajectory in advance to ensure the vehicle approaches the level difference at approximately 90 degrees, preventing trajectory deviation before it occurs
Solution Approach 2:
The control device continuously monitors the vehicle's position relative to the target travel trajectory and detects level differences ahead. When a level difference is detected, the system feedback-adjusts the target travel trajectory to optimize the crossing angle, ensuring the vehicle maintains accurate trajectory following even when encountering unexpected obstacles
2Productivity
If the vehicle climbs over a level difference at an angle other than 90 degrees, then the vehicle can pass over the obstacle, but steering wheel disturbance occurs leading to deviation from the target travel trajectory
Solution Approach 1:
The system changes the critical parameter of climbing angle by adjusting the target travel trajectory. By modifying the trajectory to ensure approximately 90-degree approach angles to level differences, the system transforms the harmful steering wheel disturbance into minimal disturbance, allowing obstacle crossing while maintaining steering stability
Data Source
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Figure 2A~2B
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AI summary
A driving assistance method for controlling an own vehicle (1) by a controller (16) in such a way that the own vehicle (1) travels along a target travel trajectory, the method including: acquiring level-difference information of a level difference (24) existing along a lane (20) in which the own vehicle (1) travels; and when, from the level-difference information, determining that the own vehicle (1) is to climb over the level difference (24), generating the target travel trajectory in such a way that a level-difference climbing-over angle (θs), which is an angle formed by the level difference (24) and the target travel trajectory, is larger than a threshold value (Th).