Vehicle Control Apparatus Obstacle Separation
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Solution Overview
Problem
When a preceding vehicle does not adequately avoid an obstacle, the following vehicle may experience a reduced separation distance, leading to driver discomfort during obstacle avoidance maneuvers.
Innovation Solution
A vehicle control apparatus that detects obstacles and adjusts the target route to increase the separation distance between the obstacle and the following vehicle's path, based on the separation distance between the obstacle and the preceding vehicle's trajectory, using sensors and image data to determine the optimal route adjustments.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the own vehicle follows the movement trajectory of the preceding vehicle to avoid obstacles, then the obstacle avoidance capability is improved, but the separation distance between the own vehicle and the obstacle may become insufficient, causing driver discomfort
Solution Approach 1:
The system performs preliminary detection of obstacles and calculates a modified target route that ensures sufficient separation distance before the own vehicle reaches the obstacle. The target route changing unit proactively adjusts the trajectory to maintain an extended separation distance, preventing the driver discomfort that would occur if the vehicle simply followed the preceding vehicle's trajectory.
2Ease of operation
If the target route is adjusted to increase separation distance from obstacles, then driver comfort is improved, but the deviation from the preceding vehicle's trajectory increases, potentially reducing following accuracy
Solution Approach 1:
The system applies local quality by making targeted adjustments only to the portions of the target route that pass near obstacles, while maintaining adherence to the preceding vehicle's trajectory in other segments. The target route changing unit calculates the separation distance at parallel portions and extends it only where necessary, rather than deviating from the trajectory throughout the entire path.
Data Source
AI summary
In a vehicle control apparatus, a preceding vehicle ahead of an own vehicle is detected. A movement trajectory of a target preceding vehicle is acquired. Based on the movement trajectory of the target preceding vehicle, a target route on which the own vehicle is to travel is set. Travelling control of the own vehicle is performed so as to follow the target preceding vehicle on the target route. An obstacle ahead of the own vehicle is detected. The target route is changed so as to extend a separation distance between the detected obstacle and a parallel portion of the target route that is parallel to the obstacle, based on a separation distance between the obstacle and a parallel portion of the movement trajectory of the target preceding vehicle that is parallel to the obstacle.