Vehicle Control Device for Cutting-In Object Detection

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Solution Overview

Problem

Conventional vehicle control systems may fail to appropriately execute collision avoidance control when a front vehicle cuts into the path of a host vehicle, especially if the detected portion is not within the collision prediction area.

Innovation Solution

A vehicle control device that determines if a portion other than the front end of an object is detected by the object detection sensor, allowing collision avoidance control to be performed even if the lateral position of this portion is not within the collision prediction area, by estimating the front end lateral position based on the detected portion's angle and velocity.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Reliability

If collision avoidance control is performed based only on the lateral position acquired by the object detection sensor, then the control is simple to implement, but collision avoidance control cannot be executed when the detected portion is outside the collision prediction area even though the front end may have entered the path

Engineering Contradiction:

Improvecollision avoidance control executionVSAvoidcontrol logic complexity

Core Design Contradiction:

ReliabilityVSDevice complexity

Solution Approach 1:

The system performs preliminary determination of whether the detected object is a front vehicle and estimates the front end lateral position before executing collision avoidance control. This advance preparation ensures that control can be initiated earlier even when the detected portion is outside the collision prediction area, resolving the contradiction between reliable control execution and simple implementation

Inventive Principle:

Principle #10Preliminary action

2Speed

If the system waits for the detected object to enter the collision prediction area before performing collision avoidance control, then false alarms are reduced, but response time is delayed when front vehicles cut in

Engineering Contradiction:

Improvecollision avoidance control response speedVSAvoidcontrol accuracy

Core Design Contradiction:

SpeedVSReliability

Solution Approach 1:

The system performs preliminary determination of front vehicle status and estimates the front end lateral position in advance. This allows the system to prepare for collision avoidance control before the object enters the collision prediction area, achieving fast response while maintaining reliability through preliminary verification of the front vehicle condition

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The system adds a new dimension of judgment by determining whether the detected object is a front vehicle based on its movement characteristics (moving toward the front in a direction intersecting the traveling direction). This additional dimensional check enables early intervention while maintaining control accuracy

Inventive Principle:

Principle #17Another dimension (Dimensionality change)

3Measurement precision

If the system uses only the detected portion position for collision avoidance control, then the detection logic is simple, but it fails to detect front vehicles that are cutting in at an angle

Engineering Contradiction:

Improveobject position detection accuracyVSAvoiddetection coverage for cutting-in vehicles

Core Design Contradiction:

Measurement precisionVSAdaptability or versatility

Solution Approach 1:

The system performs preliminary determination of whether the detected object is a front vehicle based on its movement characteristics before using the position for collision avoidance control. This preliminary classification enables the system to handle cutting-in vehicles differently, improving detection coverage while maintaining accurate position measurement for normal objects

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The system adds a new dimension of detection by considering the movement direction and attitude of the detected object. By determining whether the object is moving toward the front in a direction intersecting the traveling direction, the system can detect cutting-in vehicles that would otherwise be missed by conventional position-only detection

Inventive Principle:

Principle #17Another dimension (Dimensionality change)

Data Source

PatentUS10793096B2Vehicle control device with object detection

Publication Date: 2020.10.06 DENSO CORP

AI summary

A vehicle control device detects an object existing in front in a traveling direction of a host vehicle by an object detection sensor, and performs collision avoidance control with respect to the object based on a detection result and includes: a determining unit that, in a case where there is an object moving toward the front of the host vehicle in a direction intersecting the traveling direction of the host vehicle, determines that a portion other than a front end portion of the object is acquired by the object detection sensor as a detection position of the object and a control unit that, in a case where it is determined that a portion other than the front end portion of the object has been acquired, permits collision avoidance control to be performed even when a lateral position of the acquired portion is not in a collision prediction area.