Turning Collision Avoidance Control With Dynamic Lap Rate Thresholds
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Solution Overview
Problem
Existing vehicle control systems face accuracy issues in determining collisions while the vehicle is turning due to varying lap rate changes during the first and latter halves of a turn, leading to inaccurate collision avoidance controls.
Innovation Solution
The system adjusts the lap rate threshold based on the condition satisfaction period of time, setting it higher initially to prevent false positives during unstable turning and lowering it later to ensure accurate collision detection as the vehicle stabilizes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If a constant lap rate threshold is used during turning, then the device complexity is reduced, but the measurement precision of collision detection deteriorates
Solution Approach 1:
The patent applies dynamics by making the lap rate threshold variable rather than constant. The threshold is dynamically adjusted based on the turning stage (first half or latter half) detected through steering angle information. This allows the system to adapt to the changing characteristics of lap rate during different phases of turning, thereby improving collision detection accuracy without requiring overly complex manual calibration for each scenario.
Solution Approach 2:
The patent changes the parameter of the lap rate threshold based on the turning condition. Specifically, it sets different threshold values for the first half of turning versus the latter half of turning. This parameter change approach allows the system to account for the different ranges of lap rate variation in different turning phases, resolving the contradiction between simple constant thresholds and accurate variable thresholds.
2Reliability
If the lap rate threshold is set high to prevent false positives during unstable initial turning, then false collision detection is reduced, but the system fails to detect actual collisions in the latter half of turning
Solution Approach 1:
The patent segments the turning process into two distinct stages: the first half of turning and the latter half of turning. By detecting which stage the vehicle is in using steering angle information, the system can apply different lap rate thresholds appropriate for each stage. This segmentation allows high thresholds during unstable initial turning to prevent false positives, while using lower thresholds during stable latter half turning to ensure actual collisions are detected.
Solution Approach 2:
The system dynamically adjusts the lap rate threshold based on the detected turning stage. During the first half of turning when vehicle behavior is unstable, a higher threshold is applied to avoid false collision detection. During the latter half when behavior stabilizes, a lower threshold is applied to maintain sensitivity for detecting actual collisions. This dynamic adaptation resolves the contradiction between preventing false positives and maintaining detection sensitivity.
3Measurement precision
If the lap rate threshold is set low to detect collisions accurately during stable latter half of turning, then collision detection accuracy is improved, but false collision detection occurs during unstable initial turning
Solution Approach 1:
The patent divides the turning maneuver into two segments based on steering angle: the first half of turning and the latter half of turning. This segmentation enables the system to recognize when the vehicle is in the unstable initial phase versus the stable later phase, and apply appropriately different thresholds to avoid false positives while maintaining detection accuracy.
Solution Approach 2:
The system changes the lap rate threshold parameter according to the turning stage. A higher threshold is used during the first half of turning to prevent false positives caused by unstable vehicle behavior, while a lower threshold is used during the latter half to accurately detect actual collisions. This conditional parameter change resolves the contradiction between accuracy and false positive rate.
Data Source
AI summary
A vehicle control apparatus executes a collision avoidance control when a collision condition becomes satisfied. The collision condition includes a condition that a lap rate of the own vehicle and the object is equal to or greater than a lap rate threshold. The threshold set when the own vehicle turns, is greater than the threshold set when the own vehicle does not turn. The threshold set when a condition satisfaction period of time is equal to or greater than a predetermined period of time, is smaller than the threshold set when the condition satisfaction period of time is smaller than the predetermined period of time. The condition satisfaction period of time is a period of time that a collision probability condition continues being satisfied while the own vehicle is turning. The collision probability condition is a condition that the own vehicle has a probability of colliding with the object.