Vehicle Control Device Deceleration Profile for Lane Change Comfort
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Solution Overview
Problem
During lane changes, especially when transitioning from a limited-access road to a general road with a curved exit, significant deceleration can cause discomfort to occupants and lead to unpredictable deceleration for following vehicles, potentially resulting in vehicles becoming too close to each other.
Innovation Solution
A vehicle control device that includes a map database, speed profile generation unit, and deceleration condition determination unit to generate a speed profile with a lower deceleration upper limit when a deceleration condition is satisfied, such as a steep curve or mismatched maximum speeds, ensuring gentle deceleration through smooth interpolation processing.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the vehicle adjusts speed to match the adjacent vehicle at lane change destination, then the lane change control is achieved, but significant deceleration occurs causing occupant discomfort and unpredictable behavior for following vehicles
Solution Approach 1:
The system performs preliminary detection of curve information in the lane change destination road before executing lane change control. Based on this advance detection, the system determines whether the destination lane is curved and pre-calculates appropriate deceleration limits, thereby preventing uncomfortable deceleration during the actual lane change maneuver
Solution Approach 2:
The system dynamically adjusts the deceleration upper limit parameter based on the curvature of the destination lane. When a curve is detected, the system lowers the deceleration upper limit to prevent significant deceleration that would cause occupant discomfort. This parameter adaptation allows the lane change control to accommodate curved road geometries while maintaining comfort
2Adaptability or versatility
If the vehicle performs significant deceleration during lane change, then the vehicle can adapt to curved exit roads, but following vehicles cannot predict the deceleration and may become too close
Solution Approach 1:
The system detects curve information in advance before lane change execution and determines the appropriate deceleration strategy beforehand. This preliminary action allows the system to maintain predictable deceleration patterns that following vehicles can anticipate, rather than performing sudden unexpected deceleration
Solution Approach 2:
The system uses map information about the destination lane curvature as feedback to adjust deceleration control. By continuously monitoring the geometric characteristics of the destination road and adapting deceleration accordingly, the system maintains predictable behavior that follows vehicles can respond to safely
Data Source
AI summary
The vehicle control device includes a speed profile generation unit configured to generate a speed profile of the vehicle in the lane change control, a vehicle control unit configured to control a vehicle speed of the vehicle along the speed profile when the lane change control is executed, and a deceleration condition determination unit configured to determine whether or not a deceleration condition in the lane change control is satisfied. The speed profile generation unit is configured to generate the speed profile such that a deceleration upper limit of the vehicle in the lane change control is lower in value when the deceleration condition determination unit determines that the deceleration condition is satisfied than when the deceleration condition determination unit determines that the deceleration condition is not satisfied.