Vehicle Trajectory Planning for Sensor Blind Spot Visibility
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Solution Overview
Problem
Existing vehicle control systems for automatic driving or driving assistance face challenges in safely navigating through environments where the visibility rate of external environment sensors is low, leading to potential collisions and decreased traveling comfort.
Innovation Solution
A vehicle control system that plans a target trajectory based on recognition information from external environment sensors, recognizing objects at the vehicle's periphery and adjusting the trajectory to ensure a wider actual detection range when objects are detected, thereby improving visibility and safety.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If automatic deceleration is executed when a blind spot area is detected, then safety against potential risks is improved, but traveling comfort deteriorates due to unnecessary deceleration
Solution Approach 1:
The system changes the parameter of deceleration execution from a binary state (always decelerate when blind spot detected) to a conditional state (decelerate only when risk probability exceeds threshold). This allows the system to maintain safety by selectively decelerating only when necessary, thereby improving traveling comfort by avoiding unnecessary deceleration events.
2Device complexity
If automatic deceleration control is executed without changing steering control, then control simplicity is maintained, but ability to respond to different object types deteriorates
Solution Approach 1:
The system introduces dynamic adaptability by enabling both deceleration control and steering control to be executed based on object recognition results. The control strategy dynamically adjusts based on the detected object type, allowing the vehicle to respond appropriately to different scenarios (e.g., decelerate for pedestrians, steer around for stationary objects) while maintaining a unified control framework.
3Reliability
If deceleration is executed every time blind spot area is detected, then safety margin is improved, but traveling comfort and efficiency worsen
Solution Approach 1:
The system changes the parameter of deceleration execution from a frequent state (every blind spot detection) to a selective state (only when risk probability exceeds threshold). This reduces the frequency of deceleration events while maintaining adequate safety margins, thereby improving traveling efficiency by allowing continuous motion in low-risk scenarios.
4Device complexity
If trajectory is not adjusted to improve detection range, then trajectory planning simplicity is maintained, but detection capability in blind spot areas deteriorates
Solution Approach 1:
The system performs preliminary trajectory adjustment to proactively improve detection capability. By planning a trajectory that moves the vehicle to positions with better sensor visibility before entering blind spot areas, the system enables earlier detection of potential risks. This preliminary action enhances detection precision without requiring complex real-time trajectory recalculation.
Data Source
AI summary
To provide a vehicle control system that is capable of planning a trajectory that can ensure more visibility and enables safe traveling when an invisible range of a sensor exists.A vehicle control system that plans a target trajectory of a vehicle based on recognition information from an external environment sensor, the vehicle control system including a recognizing unit that recognizes an object at a periphery of the vehicle based on the recognition information; and a trajectory planning unit that plans the target trajectory such that an actual detection range of the external environment sensor becomes wide when the recognizing unit recognizes the object.