Vehicle Behavior Planning for Safe Stops Outside Intersections
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Solution Overview
Problem
Automated driving systems face challenges in safely stopping a vehicle when environmental sensor abnormalities occur, particularly at intersections, as they may obstruct other traffic participants or cause collisions.
Innovation Solution
A behavior planning device that acquires obstacle and road information to determine if a stop would obstruct other traffic, generating a behavior plan to avoid such areas by selecting routes with lower traveling difficulties and considering abnormality detection data.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the vehicle stops immediately upon detecting sensor abnormality, then the safety response time is reduced, but the vehicle may stop in intersections or road shoulders obstructing other traffic participants
Solution Approach 1:
The system performs preliminary analysis of the stop position before executing the emergency stop. The stop position determination unit predicts where the vehicle will stop based on current speed, deceleration characteristics, and road gradient, and checks in advance whether this position would obstruct other traffic participants or create safety hazards.
Solution Approach 2:
The invention introduces an intermediary decision-making layer between sensor abnormality detection and emergency stop execution. The behavior plan generation unit acts as a mediator that receives the emergency stop request, evaluates multiple candidate behaviors (immediate stop, delayed stop, route change), selects the safest appropriate action based on surrounding environment, and executes it.
2Productivity
If the vehicle continues traveling without stopping when sensor abnormality is detected, then traffic flow is maintained, but safety risks increase due to undetected obstacles
Solution Approach 1:
The system dynamically adjusts the stopping decision based on real-time environmental conditions. Rather than a fixed response to sensor abnormality, the behavior plan generation unit continuously evaluates candidate behaviors and selects the optimal action based on current traffic conditions, obstacle positions, and road characteristics.
3Object-affected harmful factors
If the vehicle changes route to avoid stopping in intersections, then obstruction to other traffic is reduced, but travel time increases
Solution Approach 1:
The system changes the parameter of stop position rather than fundamentally altering the route. The behavior plan generation unit calculates candidate stop positions along the current route, evaluates their safety and appropriateness, and selects the optimal position that minimizes obstruction to other traffic while maintaining efficient travel.
Data Source
AI summary
This behavior planning device includes: an emergency stop requesting unit which detects abnormality on the basis of obstacle information acquired from an obstacle information acquisition unit and a roadside information acquisition unit and outputs an emergency stop request; a stop position determination unit which calculates a stop position of an own vehicle on the basis of the emergency stop request and determines whether or not the stop position is in an area where advancement of another traffic participant is obstructed; and a behavior plan generation unit which, in a case where it is determined that the own vehicle will stop in the area where advancement of another traffic participant is obstructed, such as an intersection, generates a behavior plan for causing the own vehicle to stop outside the area or after passing over the area.