Vehicle Control Device for Adaptive Course Change
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Solution Overview
Problem
Automated driving systems lack the ability to execute course changes according to a driver's intentions, particularly in situations involving overtaking or lane changes, which affects the vehicle operation and marketability.
Innovation Solution
A vehicle control device equipped with an external environment recognition unit and a vehicle operation setting unit that adjusts vehicle operations based on the presence or absence of a preceding vehicle, and determines whether a lane change is for overtaking, allowing for differentiated vehicle operations during automated driving.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If automated driving systems execute course changes with fixed vehicle operations, then automation is achieved, but the system cannot adapt to driver intentions in different situations (overtaking vs. lane switching)
Solution Approach 1:
The patent applies dynamics by making the vehicle operation parameters adjustable based on the recognized situation. The system dynamically changes acceleration and deceleration upper limit values according to whether a preceding vehicle is detected and whether lane change is determined, allowing the control characteristics to adapt to different driving scenarios rather than using fixed parameters throughout.
Solution Approach 2:
The patent implements parameter changes by modifying the acceleration upper limit value and deceleration upper limit value based on the driving situation. When a preceding vehicle is detected and lane change is determined, different parameter values are applied compared to when no preceding vehicle is present, enabling the system to express different driver intentions through parameter adjustment.
2Measurement precision
If the system uses differentiated vehicle operations for overtaking and lane switching, then driver intention accuracy improves, but the control system becomes more complex
Solution Approach 1:
The patent applies local quality by applying different control parameters to different operational contexts. Specifically, the acceleration upper limit value and deceleration upper limit value are locally adjusted based on the combination of preceding vehicle detection and lane change determination, allowing precise control characteristics for each specific situation without requiring a completely separate control system for each scenario.
3Measurement precision
If the system recognizes preceding vehicles and determines lane change purpose, then course change accuracy improves, but processing time increases
Solution Approach 1:
The patent applies preliminary action by performing external environment recognition and situation determination in advance of the actual course change execution. The system recognizes preceding vehicles and determines whether lane change is the intended action before executing the vehicle operation, allowing the control parameters to be pre-adjusted based on the recognized situation, thus reducing latency during the actual maneuver.
Data Source
AI summary
A vehicle operation setting unit determines vehicle operations of a host vehicle. When a course change is performed, the vehicle operation setting unit sets values (at least one of target values for a velocity, an acceleration/deceleration, a curvature, a yaw rate, a steering angle, and a lateral G force) to be less than or equal to upper limit values thereof. The vehicle operation setting unit causes the upper limit values to differ between a case in which a preceding vehicle is recognized by an external environment recognition unit, and a case in which a preceding vehicle is not recognized by the external environment recognition unit.