Vehicle Control Device Intersection Trajectory Adaptation
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Solution Overview
Problem
Automated vehicles face difficulties in smoothly navigating irregularly shaped intersections, especially when there are pedestrians or bicycles, due to challenges in generating a target trajectory for passing through such intersections.
Innovation Solution
A vehicle control system that includes a recognizer to identify situations near the vehicle and a driving controller to manage acceleration, deceleration, and steering, which allows the vehicle to follow a preceding vehicle only if its turning start point and angle match the predicted route, otherwise, it takes control to ensure smooth passage through the intersection by waiting or increasing inter-vehicle distance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the vehicle follows the preceding vehicle through the intersection, then the vehicle can pass through the intersection more easily, but the vehicle cannot maintain the target trajectory accurately when the preceding vehicle's turning behavior does not match the predicted route
Solution Approach 1:
The system continuously monitors the preceding vehicle's turning start point and turning angle, comparing them against the predicted route parameters. When deviations are detected (turning start point mismatch or turning angle mismatch), the system provides feedback to switch from following mode to independent control mode, ensuring trajectory accuracy while maintaining ease of operation under normal conditions
Solution Approach 2:
The control system dynamically switches between two operational modes: following mode (when turning parameters match) and independent control mode (when turning parameters mismatch). This dynamic adaptation allows the system to optimize for ease of operation when conditions permit, while maintaining trajectory accuracy when conditions require intervention
2Measurement precision
If the vehicle increases inter-vehicle distance before passing through the intersection, then the vehicle can improve detection accuracy of the situation, but the vehicle increases the time required to pass through the intersection
Solution Approach 1:
The system performs preliminary detection of the preceding vehicle's turning intentions and route predictions before reaching the intersection. By preparing the target trajectory in advance and pre-assessing whether following mode is appropriate, the system minimizes the need for last-minute maneuvers, thereby reducing time loss while maintaining detection accuracy
Data Source
AI summary
A vehicle control device (100) includes a recognizer (130) that recognizes a situation occurring near an own-vehicle, and a driving controller (140, 160) that controls acceleration/deceleration and steering of the own-vehicle on the basis of a result of the recognition of the recognizer. When performing travel control according to a behavior of a preceding vehicle that is traveling in front of the own-vehicle such that the own-vehicle follows the preceding vehicle to pass through an intersection, the driving controller does not perform following of the preceding vehicle if a turning start point of the preceding vehicle does not match a turning start point in a route predicted for the own-vehicle to pass through the intersection in a scheduled direction or if a turning angle of the preceding vehicle does not match a turning angle in the predicted route.