Vehicle Behavior Planning for Abnormality-Aware Safe Stopping
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Solution Overview
Problem
Automated driving systems face challenges in safely stopping a vehicle when sensor malfunctions occur, particularly in areas where stopping could obstruct other traffic participants, leading to potential safety risks and disruptions in traffic flow.
Innovation Solution
A behavior planning device and vehicle control system that determines whether to initiate an emergency stop or a controlled stop based on acquired obstacle, position, road, and vehicle state information, using a stop request determination unit and behavior plan generation unit to minimize obstruction to other traffic participants.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the vehicle immediately stops when abnormality is detected, then safety is improved, but obstruction of another traffic participant occurs
Solution Approach 1:
The system changes the stopping behavior parameter based on the detected abnormality type and current driving situation. Instead of a fixed immediate stop, the system selects from multiple stopping parameters (emergency stop, controlled stop, gradual deceleration) to resolve the contradiction between safety and traffic obstruction.
Solution Approach 2:
The stopping strategy is made dynamic by continuously monitoring the abnormality state and adjusting the stopping behavior in real-time. The system transitions between different stopping modes based on the severity of abnormality and environmental conditions, allowing flexible response that balances safety requirements with traffic flow considerations.
2Productivity
If the vehicle continues traveling without stopping when abnormality occurs, then traffic flow is maintained, but safety risk increases
Solution Approach 1:
The system adjusts the stopping parameter based on the type and severity of detected abnormality. For minor abnormalities, the system may maintain current travel parameters or apply gentle deceleration, while for severe abnormalities, it transitions to emergency stopping parameters, thus balancing safety and traffic flow dynamically.
Solution Approach 2:
The system continuously monitors abnormality detection results and adjusts stopping behavior accordingly. This feedback mechanism allows the system to escalate or de-escalate stopping intensity based on the evolving abnormality state, ensuring safety while minimizing unnecessary disruption to traffic flow.
3Reliability
If the shifting to malfunction coping behavior is interrupted in an intersection, then obstruction of another traffic participant occurs, but if the vehicle stops immediately, then safety is improved
Solution Approach 1:
The system applies different stopping strategies based on the local environment. When an intersection is detected, the system uses controlled stopping parameters that account for the specific geometric and traffic characteristics of the intersection, rather than applying a uniform emergency stop, thus reducing obstruction while maintaining safety.
Solution Approach 2:
The system performs preliminary detection of intersection locations and prepares appropriate stopping parameters in advance. By identifying the intersection context before abnormality occurs or immediately upon detection, the system can initiate a pre-planned controlled stopping sequence that minimizes disruption to intersecting traffic while ensuring safety.
Data Source
AI summary
Provided is a behavior planning device, a vehicle control system, and a behavior plan generation method in which whether or not to immediately stop is determined at a time when abnormality has been detected, thus reducing obstruction of advancement of another traffic participant. This behavior planning device includes: a stop request determination unit which determines occurrence of abnormality on the basis of acquired obstacle information, own-position information, road information, and vehicle state information, and outputs an emergency stop request or a stop request; and a behavior plan generation unit which, in a case where the emergency stop request is outputted, generates a behavior plan for immediately stopping a mobile object, and in a case where the stop request is outputted, generates a behavior plan for preventing the mobile object from stopping in an area where advancement of another traffic participant is obstructed.