Vehicle Control Device Reference Range Adjustment
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Solution Overview
Problem
Existing automated vehicle control systems face challenges in early detection of target vehicles and suppressing erroneous detection, particularly when switching information sources, leading to delayed or incorrect vehicle detection.
Innovation Solution
A vehicle control device and method that includes a recognizer to identify surrounding situations, a target vehicle specifier to set a reference range based on map information and vehicle behavior, and an arbitrator to select the most reliable specifying result, ensuring early detection and reducing erroneous detection by adjusting the reference range and width accordingly.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Length of stationary object
If the reference range is set based on map information, then the detection range is extended to more distant locations, but erroneous detection may occur due to insufficient consideration of switching events
Solution Approach 1:
The reference range is dynamically adjusted based on the vehicle's behavior state. When the vehicle is traveling straight ahead within a standard degree of turning, the reference range is expanded to a predetermined expansion distance beyond the basic reference range, enabling early detection of target vehicles while maintaining detection reliability through behavior-based adaptation
Solution Approach 2:
The system changes the reference range parameter according to vehicle behavior conditions. By detecting whether the vehicle is traveling straight or turning, the system adjusts the reference range distance parameter to optimize both early detection capability and detection accuracy for different driving scenarios
2Reliability
If the reference range is set irrespective of map information, then the detection is more reliable for current vehicle behavior, but the detection range is limited and cannot detect vehicles at distant locations
Solution Approach 1:
The system performs preliminary detection in an expanded reference range when the vehicle is traveling straight, allowing target vehicles to be detected earlier at more distant locations before they enter the basic reference range, while maintaining reliable detection by considering vehicle behavior patterns
3Loss of time
If the reference range width is increased to detect vehicles at distant locations, then early detection is enabled, but the detection precision decreases leading to more erroneous detections
Solution Approach 1:
The reference range width is locally adjusted based on detection distance. In the expanded reference range for distant detection, the width is set to a predetermined expansion width that is narrower than a full expansion, providing localized detection precision while maintaining early detection capability for distant vehicles
4Loss of time
If the reference range is expanded for early detection, then target vehicles can be detected earlier, but the complexity of determining the appropriate reference range increases
Solution Approach 1:
The reference range is dynamically determined based on simple vehicle behavior detection (whether traveling straight or turning). This dynamic adjustment based on basic behavioral parameters enables early detection without requiring complex determination logic, as the system only needs to monitor fundamental vehicle motion states
Data Source
AI summary
A vehicle control device includes: a recognizer configured to recognize a surrounding situation of a vehicle; a target vehicle specifier configured to specify a target vehicle which is a control target of the vehicle within a set reference range based on a recognition result of the recognizer; and a driving controller configured to control at least one of an acceleration or deceleration speed and steering of the vehicle based on a position of the specified target vehicle. The target vehicle specifier sets the reference range to a more distant location when the reference range is set based on map information than when the reference range is set irrespective of the map information.