Vehicle Driving Control Suppressing Obstacle Avoidance
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Solution Overview
Problem
Conventional vehicle driving control systems often execute obstacle avoidance control during preparatory steering operations, causing uncomfortable resistance feelings for drivers, especially when changing lanes.
Innovation Solution
A vehicle driving control apparatus equipped with an obstacle detecting device, a future position estimating device, and a lane change intent detecting device, which suppresses obstacle avoidance control when the driver intends to steer away from an obstacle, by adjusting the future viewing time and target yaw moment based on lane change intentions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If obstacle avoidance control is executed during preparatory steering operations, then obstacle detection reliability is improved, but driver comfort deteriorates due to uncomfortable resistance feelings
Solution Approach 1:
The system dynamically adjusts the obstacle avoidance control based on detected driver intent. When lane change intent is detected, the system switches between different control states: executing obstacle avoidance control when obstacles are present in the target lane, and suppressing it when obstacles are absent or in the opposite lane. This dynamic adaptation resolves the contradiction by making the control system flexible rather than rigid.
Solution Approach 2:
The system uses feedback from the lane change intent detecting device to continuously monitor driver intentions and adjust the obstacle avoidance control accordingly. The feedback loop allows the system to distinguish between preparatory steering operations and genuine lane change intentions, enabling selective suppression of obstacle avoidance control only when appropriate, thus maintaining both safety and driver comfort.
2Reliability
If obstacle avoidance control is continuously executed, then safety against obstacles is improved, but unnecessary control interference occurs during intended lane changes
Solution Approach 1:
The system dynamically adjusts the obstacle avoidance control based on detected driver intent. When lane change intent is detected, the system switches between different control states: executing obstacle avoidance control when obstacles are present in the target lane, and suppressing it when obstacles are absent or in the opposite lane. This dynamic adaptation resolves the contradiction by making the control system flexible rather than rigid.
Solution Approach 2:
The system applies different control qualities to different spatial situations. When an obstacle is detected in the target lane, obstacle avoidance control is applied locally to that direction. When no obstacle is present or the obstacle is in the opposite lane, the control is suppressed. This localized application of control ensures safety where needed while allowing intended lane changes to proceed without interference.
3Device complexity
If obstacle avoidance control is executed with fixed future viewing time, then computational simplicity is improved, but control accuracy deteriorates during lane change operations
Solution Approach 1:
The system changes the future viewing time parameter based on detected driver intent. When lane change intent is detected and no obstacle is present in the target lane, the future viewing time is reduced or the control is suppressed. This parameter adjustment improves control accuracy during lane change operations while maintaining reasonable computational simplicity through conditional logic rather than complex algorithms.
Data Source
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AI summary
A vehicle driving control apparatus is provided with an obstacle detecting device (24L,24R), a future position estimating device (8A), an obstacle avoidance control device (8C), and a lane change intent detecting device (8Bb). The obstacle detecting device detects an existence of an obstacle (SM) positioned laterally of a host vehicle (MM). The future position estimating device estimates a future position of the host vehicle after a prescribed amount of time. The obstacle avoidance control device executes an obstacle avoidance control. The lane change intent detecting device detects an intent of a driver to effect a lane change and a direction of the intended lane change. Therefore, when it is detected that the driver intends to move to an adjacent lane located on the opposite side of the vehicle as the side containing the obstacle, a control suppressing portion of the obstacle avoidance control device suppresses the obstacle avoidance control. The aim is to avoid an unnecessary obstacle avoidance control.