Vehicle Avoidance Trajectory Control at Low Speed
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Solution Overview
Problem
Existing vehicle control systems experience excessive turning angle changes when autonomously avoiding objects, leading to passenger discomfort due to large steering wheel movements.
Innovation Solution
A vehicle control method that determines if the vehicle speed is reduced below a predetermined threshold, detects lateral deviation from the lane center, and generates a target travel trajectory to suppress changes in lateral deviation after the vehicle speed reduction point, while adjusting deceleration to avoid obstacles.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the vehicle autonomously avoids an object by generating a large turning angle change, then the avoidance effectiveness is improved, but the steering wheel moves largely causing passenger discomfort
Solution Approach 1:
The system dynamically adjusts the target travel trajectory based on real-time vehicle speed. When vehicle speed is below a threshold, the trajectory generation is modified to suppress lateral deviation changes, thereby reducing steering angle changes and passenger discomfort while maintaining avoidance effectiveness at higher speeds
Solution Approach 2:
The invention changes the trajectory generation parameters based on vehicle speed conditions. By detecting whether vehicle speed is below a threshold and adjusting the target travel trajectory accordingly, the system reduces excessive turning angle changes at low speeds while preserving avoidance capability at higher speeds
Data Source
AI summary
A vehicle control method causes a controller to execute: vehicle speed determination processing of determining whether or not vehicle speed of an own vehicle is reduced to less than a predetermined speed threshold; lateral deviation detection processing of detecting lateral deviation of the own vehicle with respect to a lane center or a lane boundary line; target trajectory generation processing of, when determining that the vehicle speed is reduced to less than the speed threshold, generating a first target travel trajectory of the own vehicle in such a way as to suppress change in the lateral deviation at and after a vehicle speed reduction time point; avoidance target detection processing of detecting an avoidance target; and avoidance processing of avoiding the avoidance target by, after the vehicle speed reduction time point, adjusting deceleration of the own vehicle while the own vehicle travels along the first target travel trajectory.