Vehicle Control Apparatus Lateral Displacement Reduction
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Solution Overview
Problem
Existing vehicle control systems cause discomfort to occupants when avoiding multiple targets on either side of the road, as they tend to meander excessively due to uneven lateral acceleration and yaw rates, especially when the distance between targets is short.
Innovation Solution
A vehicle control apparatus that adjusts its avoidance strategy based on the distance between multiple avoidance targets, employing 'normal steering' for longer distances and 'moderate braking and steering' or 'moderate braking' for shorter distances to minimize lateral displacement and reduce occupant discomfort.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the vehicle performs avoidance control by steering to avoid multiple avoidance targets on opposite sides of the road, then the vehicle successfully avoids the targets, but the vehicle meanders excessively causing occupant discomfort
Solution Approach 1:
The control apparatus changes the control parameters (steering angle, braking force) based on the distance to avoidance targets. When a second avoidance target is detected on the opposite side within a predetermined distance, the system adjusts the steering angle to be smaller and applies braking force to reduce vehicle speed, thereby reducing lateral acceleration and yaw rate to prevent excessive meandering and occupant discomfort
2Reliability
If the vehicle steers to avoid the first avoidance target on one side of the road, then the vehicle avoids the first target, but the vehicle displacement in lateral direction becomes excessive when a second target is nearby on the opposite side
Solution Approach 1:
The control apparatus detects the presence of a second avoidance target on the opposite side before the vehicle completes avoidance of the first target. When the distance to the second target is within the predetermined range, the system preemptively reduces the steering angle and applies braking force to counteract the excessive lateral displacement that would otherwise occur, ensuring smoother vehicle trajectory
Data Source
AI summary
A vehicle control apparatus is provided with: a distance acquirer configured to obtain a distance between a first avoidance target and a second avoidance target in a longitudinal direction of a host vehicle when the first avoidance target is on one of left and right sides of the host vehicle and when the second avoidance target is on a far side of the first avoidance target and on another side of the host vehicle; and a controller configured or programmed to reduce a displacement amount in a lateral direction of the host vehicle, of a displacement in a direction of the host vehicle going away from the first avoidance target, which is to avoid the first avoidance target by the avoidance control, when the obtained distance is less than a predetermined distance, in comparison with when the obtained distance is greater than the predetermined distance.