Vehicle Deceleration Arbitration for Multiple Targets
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Solution Overview
Problem
Existing vehicle control systems face challenges in ensuring adequate deceleration support when multiple deceleration targets are present, potentially leading to insufficient deceleration or frequent changes in the target, which can cause discomfort and increase collision risks.
Innovation Solution
A vehicle control apparatus that calculates and arbitrates multiple deceleration requirements, selects a primary deceleration variable, and switches to a secondary variable if it exceeds a predetermined threshold, while limiting the change rate to prevent abrupt behavior changes, ensuring appropriate deceleration support even with multiple targets.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If time-based arbitration is used to select deceleration targets, then multiple driving assistances can be managed, but deceleration support becomes insufficient when target changes are delayed
Solution Approach 1:
The patent changes the arbitration parameter from time-based to deceleration amount-based. The output device selects controlled variables by comparing their deceleration amounts and choosing the one with the largest value, ensuring that the most critical deceleration need is always met regardless of timing. This resolves the contradiction by making the selection criterion directly related to deceleration adequacy rather than temporal sequence.
2Adaptability or versatility
If deceleration target is frequently changed to respond to multiple targets, then deceleration support can be provided to different targets, but ride comfort deteriorates due to abrupt behavior changes
Solution Approach 1:
The patent introduces dynamic switching criteria with hysteresis through the switching controlled variable. Instead of switching targets whenever a new target appears, the system only switches when the second controlled variable exceeds the first by a predetermined margin. This dynamic threshold prevents frequent switching and maintains ride comfort while still allowing the system to adapt to multiple deceleration targets when truly necessary.
3Device complexity
If deceleration support is provided to one target at a time, then control simplicity is maintained, but deceleration support becomes insufficient when another target approaches
Solution Approach 1:
The patent merges multiple deceleration requirements into a single arbitration mechanism that selects the most critical one. Instead of implementing separate control loops for each target or complex multi-objective optimization, the system calculates multiple controlled variables and uses a simple comparison rule (selecting the largest deceleration amount) to determine which target to serve. This maintains control simplicity while ensuring adequate deceleration support by always prioritizing the most urgent need.
Data Source
AI summary
A vehicle control apparatus is provided with: a calculator configured to calculate a plurality of controlled variables for decelerating a host vehicle, if there are a plurality of deceleration targets ahead in a traveling direction of the host vehicle, in association with the plurality of deceleration targets; an output device configured to select and output one controlled variable from the plurality of controlled variables; and a controller programmed to perform the deceleration support control on the basis of the one controlled variable. When a deceleration support control is performed on the basis of a first controlled variable as the one controlled variable, the output device outputs a second controlled variable, which is different from the first controlled variable out of the plurality of controlled variables, instead of the first controlled variable as the one controlled variable, on condition that the second controlled variable is greater than a switching controlled variable.