Travel Controller Delay Thresholds for Automated Valet Collision Avoidance
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Solution Overview
Problem
Automated valet parking systems may fail to appropriately control vehicle travel to avoid collisions due to communication delays between the control device and the vehicle.
Innovation Solution
A travel controller that executes travel control based on environmental information, including control information from a communication network and environmental data, decelerates or adjusts speed when communication delays exceed a threshold, and estimates collision avoidance difficulty to dynamically set delay thresholds based on the detected conditions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the automated valet parking system uses a control device to generate and transmit control information to vehicles via a communication network, then the system can control vehicle travel to avoid collisions with objects, but communication delays may cause the system to fail in carrying out appropriate travel control
Solution Approach 1:
The travel controller preliminarily estimates avoidance difficulty based on environmental information before actual collision scenarios occur. This allows the system to pre-determine appropriate delay thresholds and speed adjustments, ensuring that when communication delays occur, the vehicle can immediately respond with pre-calculated safety parameters rather than waiting for delayed control information
Solution Approach 2:
The system continuously monitors communication delay times and compares them against dynamically adjusted delay thresholds. When delays exceed the threshold, the travel controller provides feedback by automatically adjusting vehicle speed or decelerating, creating a closed-loop control system that compensates for communication latency without requiring real-time control commands from the external control device
2Reliability
If the travel controller decelerates the vehicle or changes upper-limit speed when communication delay exceeds a threshold, then collision avoidance reliability is improved, but vehicle travel efficiency is reduced
Solution Approach 1:
The delay threshold is not fixed but dynamically adjusted based on the estimated avoidance difficulty. When the environment is simple and avoidance is easy, the threshold is higher allowing faster speeds and better efficiency. When the environment is complex and avoidance is difficult, the threshold lowers triggering speed reductions only when necessary. This dynamic adaptation ensures reliability is maintained while minimizing unnecessary speed reductions that would harm travel efficiency
Solution Approach 2:
The system changes the delay threshold parameter based on environmental conditions and avoidance difficulty estimates. By adjusting this critical parameter dynamically, the system optimizes the balance between safety and efficiency - using more conservative thresholds only when environmental factors indicate higher collision risk, while using more permissive thresholds during low-risk conditions to maintain higher travel speeds
Data Source
AI summary
A travel controller executes travel control of a vehicle including collision avoidance control, based on environmental information including control information received from a control device and environmental data outputted from an environmental sensor mounted on the vehicle, each indicating conditions around the vehicle. The travel controller regulates the speed of the vehicle when a delay time in receiving the control information exceeds a delay threshold. The travel controller sets the delay threshold to a first threshold when an estimated avoidance difficulty from the environmental information is less than a difficulty threshold; and sets the delay threshold to a second threshold less than the first threshold when the estimated avoidance difficulty is greater than the difficulty threshold.