Vehicle Control Device Lateral Avoidance Distance Restriction
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Solution Overview
Problem
When the border line of a traveling lane is undetectable, the reliability of virtual lane demarcation lines decreases, leading to a higher risk of lane departure during obstacle avoidance, as the vehicle may cross the actual demarcation line and leave the lane.
Innovation Solution
A vehicle control device that sets a target traveling course with a speed distribution zone to prevent excessive relative speed with obstacles, and adjusts the course to minimize lateral avoidance distance when the lane border is not detected, using restriction processing to ensure safe obstacle avoidance without lane departure, allowing drivers to select from different avoidance modes based on the detectability of lane borders.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the vehicle executes obstacle avoidance with a large lateral avoidance distance when the border line is not detected, then the obstacle avoidance capability is improved, but the risk of lane departure increases
Solution Approach 1:
The system dynamically adjusts the lateral avoidance distance based on the detectability of lane border lines. When border lines are detected, a larger lateral avoidance distance is permitted; when they are not detected, the lateral avoidance distance is restricted to a smaller value. This dynamic adjustment resolves the contradiction by making the avoidance behavior adaptive to the reliability of lane position information.
Solution Approach 2:
The control system changes the parameter of lateral avoidance distance based on the detection status of lane border lines. By switching between different lateral avoidance distance values according to border line detectability, the system achieves both effective obstacle avoidance when reliable and safe lane keeping when uncertain.
2Ease of operation
If the vehicle uses virtual demarcation lines when the border line is undetectable, then the lane departure prevention function is maintained, but the reliability of the virtual demarcation line decreases over time
Solution Approach 1:
The system prepares for the unreliability of virtual demarcation lines by beforehand restricting the lateral avoidance distance when border lines are not detected. This precautionary measure cushions against the potential failure of virtual demarcation lines to accurately represent the true lane position, preventing lane departure even when the virtual lines become unreliable over time.
3Reliability
If the vehicle restricts the lateral avoidance distance when the border line is not detected, then the lane departure risk is reduced, but the obstacle avoidance effectiveness may be compromised
Solution Approach 1:
The system dynamically adjusts the lateral avoidance distance based on border line detectability. When border lines are detected, full obstacle avoidance capability is permitted; when they are not detected, the system restricts lateral avoidance distance to prioritize lane keeping. This dynamic behavior ensures both safety and effectiveness under different conditions.
Data Source
AI summary
A vehicle control device (ECU) 10 is configured to, when there is an obstacle 3 in a lane 7, execute traveling course correction processing (S15) of setting a speed distribution zone 40 defining a distribution of an allowable upper limit Vlim of a relative speed of the vehicle 1 with respect to the obstacle 3, and calculate a corrected target traveling course Rc by correcting a target traveling course R so as to prevent the relative speed of the vehicle 1 from exceeding the limit Vlim and enable the vehicle 1 to avoid the obstacle 3. The traveling course correction processing includes restriction processing (S27) of calculating the corrected target traveling course (restricted target travel courses Rc1_r through Rc3_r) such that a lateral avoidance distance (L2_r, L3_r) thereof is restricted to be smaller when a border line of the lane 7 is not detected.