Driving Assistance Device Turn Orientation Control
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Solution Overview
Problem
Existing autonomous driving assistance systems fail to account for the vehicle's orientation at the starting and ending points of turn segments, leading to unnatural vehicle behavior such as sudden speed changes or lateral acceleration.
Innovation Solution
A driving assistance device and computer program that set the vehicle's orientation at the start and end of turn segments to ensure a smooth transition, generating a travel course that maintains consistent orientation and prevents unnatural behavior.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If a travel course is generated by correcting a center line course to have a larger radius of curvature, then ride comfort is improved, but the vehicle orientation at turn segment endpoints does not coincide with recommended orientation, causing unnatural vehicle behavior
Solution Approach 1:
The patent applies preliminary action by pre-calculating and setting the required vehicle orientations at the starting and ending points of turn segments before generating the travel course. The orientation setting unit determines target orientations in advance, and the travel course generating unit then creates a course that ensures the vehicle achieves these predetermined orientations, preventing unnatural behavior at turn segment boundaries
Solution Approach 2:
The patent changes the parameter of vehicle orientation by explicitly setting target orientations at turn segment endpoints and incorporating these orientation constraints into the travel course generation process. This parameter change ensures that the vehicle's orientation at the start and end of turn segments matches the recommended orientations, eliminating sudden directional changes and improving overall vehicle behavior smoothness
2Reliability
If the vehicle travels along a corrected travel course with larger radius of curvature, then ride comfort is improved, but sudden speed change or lateral acceleration occurs due to orientation mismatch
Solution Approach 1:
The patent applies preliminary action by pre-calculating and setting the required vehicle orientations at the starting and ending points of turn segments before generating the travel course. The orientation setting unit determines target orientations in advance, and the travel course generating unit then creates a course that ensures the vehicle achieves these predetermined orientations, preventing unnatural behavior at turn segment boundaries
Solution Approach 2:
The patent changes the parameter of vehicle orientation by explicitly setting target orientations at turn segment endpoints and incorporating these orientation constraints into the travel course generation process. This parameter change ensures that the vehicle's orientation at the start and end of turn segments matches the recommended orientations, eliminating sudden directional changes and improving overall vehicle behavior smoothness
Data Source
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AI summary
There are provided a driving assistance device and a computer program that allow generation of a travel course that keeps a vehicle from performing unnatural behavior upon traveling on a turn segment, as a travel course recommended for the vehicle to travel along. A planned travel path along which a vehicle travels is obtained. When, upon traveling along the planned travel path, there is included a turn segment where the vehicle travels with a turn, orientations of the vehicle taken when the vehicle reaches a starting point and an end point of the turn segment are set based on the planned travel path. A travel course recommended for the vehicle to travel along on the turn segment is generated on condition that orientations of the vehicle upon reaching the starting point and the end point of the turn segment coincide with the set orientations. Driving assistance for the vehicle is provided based on the generated travel course.