Vehicle Emergency Control Using Lane-Aware Steering Or Braking

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Solution Overview

Problem

Autonomous emergency braking systems often fail to effectively avoid collisions by steering, especially when the condition of an adjacent lane is not fully grasped, limiting the use of steering operations to prevent rear-end collisions.

Innovation Solution

A method that determines a control strategy in emergency states by considering the conditions of both the lane where the vehicle is located and the adjacent lane, using time-to-collision calculations and deep learning to generate appropriate commands for braking or steering based on vehicle speed and lane enterability, with a vehicle controller implementing these strategies.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Reliability

If autonomous emergency braking system uses only braking command to avoid collision, then collision injury can be reduced, but collision cannot be effectively avoided and steering operation is not utilized

Engineering Contradiction:

Improvecollision avoidance capabilityVSAvoidcontrol strategy flexibility

Core Design Contradiction:

ReliabilityVSAdaptability or versatility

Solution Approach 1:

The system dynamically switches between braking-only mode and combined steering-braking mode based on real-time lane condition assessment. When adjacent lane is clear, steering operation is activated to avoid collision entirely; when lane is occupied, traditional braking is used to reduce collision injury, achieving adaptive control strategy selection

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The system changes the control parameter from单一的braking command to a composite command including both steering angle and braking force. By adjusting the steering angle parameter to redirect the vehicle trajectory toward the adjacent lane while simultaneously applying braking, the system achieves more effective collision avoidance

Inventive Principle:

Principle #35Parameter changes

2Reliability

If steering operation is used to avoid collision by changing lane, then collision can be avoided, but the system requires full grasp of adjacent lane condition which is not available

Engineering Contradiction:

Improvecollision avoidance effectivenessVSAvoidadjacent lane condition information

Core Design Contradiction:

ReliabilityVSLoss of information

Solution Approach 1:

The system performs preliminary assessment of the adjacent lane condition before executing steering-based collision avoidance. By evaluating whether the adjacent lane is clear in advance, the system ensures that steering operations will not cause new collisions, making informed decisions about when to activate lane-changing maneuvers

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The system introduces an intermediate assessment mechanism that evaluates adjacent lane conditions as a mediator between the collision risk detection and the steering control execution. This intermediary layer processes available information about surrounding vehicles and determines whether the adjacent lane is safe for entry, bridging the information gap

Inventive Principle:

Principle #24Intermediary (Mediator)

3Reliability

If autonomous emergency braking system activates braking early, then collision can be avoided, but the system does not fully utilize steering operation to reduce collision occurrence

Engineering Contradiction:

Improvecollision prevention capabilityVSAvoidcontrol operation simplicity

Core Design Contradiction:

ReliabilityVSEase of operation

Solution Approach 1:

The system segments the collision avoidance function into two distinct operational modes: braking-only mode for when adjacent lane is occupied, and combined steering-braking mode for when adjacent lane is clear. This segmentation allows each mode to be optimized independently, with the steering-braking mode providing more effective collision avoidance while the braking-only mode maintaining operational simplicity for critical situations

Inventive Principle:

Principle #1Segmentation

Data Source

PatentEP3725627B1Method for generating vehicle control command, and vehicle controller and storage medium

Publication Date: 2023.11.01 NIO ANHUI HLDG CO LTD

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AI summary

Provided is a method for generating, in an emergency state, a vehicle control command, the method comprising the following steps: determining, based on the speed of a present vehicle and of a vehicle ahead and a relative distance therebetween, a first time-to-collision TTCI of the present vehicle relative to the vehicle ahead located in the same lane; and generating, in the following manner when the TTCI is smaller than or equal to the latest time to activate braking TTAB of the present vehicle, the control command: generating, if the speed of the present vehicle is lower than a first speed threshold value, a braking command; and generating, if the speed of the present vehicle is greater than or equal to the first speed threshold value and an adjacent lane is in an enterable state, a steering command, or otherwise generating the braking command. The invention further relates to an apparatus for generating a vehicle control command in an emergency state, a vehicle controller, and a computer-readable storage medium.