Vehicle Collision Avoidance Control for Multiple Lane Obstacles
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Solution Overview
Problem
Existing forward collision-avoidance systems face challenges in managing multiple obstacles, leading to discontinuous vehicle control and potential secondary collisions, especially when collision overlap is small or steering is impossible.
Innovation Solution
A method and apparatus that classify obstacles into left, right, and center subregions within the driving lane, adjusting brake and steering controls based on obstacle location to avoid collisions, including advancing brake control timing when steering is impossible or blocked.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the FCA system controls the vehicle by independently determining collision risk for each obstacle, then the collision risk for each obstacle can be assessed, but discontinuous vehicle control occurs and secondary collisions may happen
Solution Approach 1:
The patent divides the driving lane into multiple subregions (first subregion, second subregion, third subregion) based on lateral positions. This segmentation allows the system to evaluate obstacles in different spatial zones independently while maintaining overall control continuity, resolving the contradiction by structuring the assessment space rather than treating each obstacle isolationally.
Solution Approach 2:
The patent introduces a lateral dimension to collision risk assessment by classifying obstacles into different subregions based on their lateral positions relative to the vehicle. This transforms the assessment from a one-dimensional longitudinal approach to a two-dimensional spatial approach, enabling continuous control while maintaining precise risk evaluation across multiple obstacles.
2Loss of time
If the FCA system determines brake control timing using only collision overlap, then the control timing can be calculated, but collisions occur when there are multiple obstacles with small collision overlap
Solution Approach 1:
The patent applies different control strategies to different local situations by classifying obstacles into specific subregions. When obstacles are detected in the first or second subregions (lateral positions), the system adjusts brake control timing accordingly, rather than relying solely on collision overlap calculations. This local differentiation ensures reliable collision avoidance even when overlap is small.
Solution Approach 2:
The patent advances brake control timing based on the lateral position of obstacles in specific subregions, before the actual collision risk materializes. By detecting obstacles in the first or second subregions and preemptively adjusting brake timing, the system prepares the vehicle for potential collision scenarios earlier, improving reliability when dealing with multiple obstacles with small overlap.
3Ease of operation
If the vehicle uses steering to avoid obstacles not in the center subregion, then steering control can be applied, but the system must accurately determine obstacle locations to decide when steering is impossible
Solution Approach 1:
The patent segments the driving lane into distinct subregions (first, second, and third subregions) based on lateral positions. This clear spatial segmentation simplifies the decision-making process for steering control by providing explicit rules: obstacles in the third subregion (center) trigger braking, while obstacles in the first or second subregions allow steering. The segmentation reduces complexity by creating well-defined zones with predetermined control responses.
Data Source
AI summary
A method and an apparatus for controlling vehicle to avoid collision with obstacle are disclosed. A method may include identifying, via one or more sensors, a plurality of objects around a vehicle, determining, among the plurality of identified objects and based on a distance between the vehicle and each of the plurality of identified objects, a plurality of target objects that are at risk of colliding with the vehicle, determining, based on classifying a location of each of the plurality of target objects into one of a plurality of subregions within a driving lane of the vehicle, a vehicle control path for the vehicle, and controlling, based on the vehicle control path, the vehicle to avoid colliding with the plurality of target objects.