Vehicle Controller Merging Speed Adjustment via Front Sensor
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Solution Overview
Problem
Vehicle controllers face challenges in merging operations when a shielding object interferes with side sensor detection, leading to unpredictable speed changes or inoperable merging due to the inability to recognize main lane vehicles.
Innovation Solution
The vehicle controller determines a preparatory speed based on the relative speed between the merging lane vehicle and the main lane vehicle detected by the front sensor, adjusting the merging lane vehicle's speed before side sensor detection becomes effective, allowing for smooth merging even with shielding objects present.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the vehicle controller waits for side sensor detection to become effective before merging, then merging safety is improved, but merging operability deteriorates when shielding objects are present
Solution Approach 1:
The vehicle controller performs preliminary speed adjustment based on front sensor detection before side sensor detection becomes effective. The control unit calculates a preparatory speed using detection results from the front sensor (which can detect through shielding objects) and adjusts the vehicle speed in advance, enabling merging to proceed even when side sensors are temporarily blocked by shielding objects like bridges or overpasses.
2Measurement precision
If the vehicle controller uses only side sensor information for merging control, then detection accuracy is improved, but merging capability deteriorates when shielding objects are present
Solution Approach 1:
The vehicle controller implements a multi-source detection system that can function under different conditions. The front sensor serves as a universal detection means that can detect main lane vehicles even when side sensors are blocked. The control unit selectively uses front sensor detection results to calculate preparatory speed, ensuring the merging system remains versatile and adaptable to various environmental conditions including the presence of shielding objects.
3Manufacturing precision
If the vehicle controller starts merging control after side sensor detection becomes effective, then merging precision is improved, but merging efficiency deteriorates due to delayed speed adjustment
Solution Approach 1:
The vehicle controller performs preliminary speed adjustment based on front sensor detection before side sensor detection becomes effective. The control unit calculates a preparatory speed using detection results from the front sensor (which can detect through shielding objects) and adjusts the vehicle speed in advance, enabling merging to proceed even when side sensors are temporarily blocked by shielding objects like bridges or overpasses.
Solution Approach 2:
The vehicle controller maintains continuous detection and control operations by switching between front sensor and side sensor based on their availability. When side sensors are blocked, the front sensor continues to provide detection data for speed adjustment. This continuous operation ensures that merging preparation proceeds without interruption, maintaining merging efficiency despite the presence of shielding objects.
Data Source
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AI summary
A vehicle controller includes: a determination unit (12; 12A; 12B) configured to determine a preparatory speed of a vehicle (2) in a merging lane (R2) based on a relative speed between a first main lane vehicle (40) traveling on a main lane (R1) and the vehicle, the first main lane vehicle being detected by a front sensor (3) of the vehicle; a preparation unit (18) configured to adjust speed of the vehicle such that the speed of the vehicle coincides with the preparatory speed; and a merging control unit (20) configured to merge the vehicle into the main lane from the merging lane based on at least a detection result of a side sensor (4) of the vehicle and the speed of the vehicle, when the vehicle is in a situation where the main lane vehicle is recognizable based on the detection result of the side sensor, after the preparation unit starts speed adjustment of the vehicle.