Vehicle Lateral Control for Preceding Vehicle Lane Straddling
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Solution Overview
Problem
Existing vehicle control systems for automated driving do not adequately consider obstacles within the lane when performing preceding vehicle following control, leading to potential unsafe proximity to adjacent vehicles.
Innovation Solution
A vehicle control apparatus that includes a detection unit to identify the surrounding environment, a determination unit to assess the lateral movement of a preceding vehicle, and a control unit to adjust the vehicle's lateral movement based on the determination, ensuring safe distance and lane adherence.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If preceding vehicle following control is performed without determining lateral movement intent, then the control system is simple and responsive, but the self-vehicle may come close to adjacent vehicles causing occupant unease
Solution Approach 1:
The determination unit performs preliminary analysis of the preceding vehicle's lateral movement by detecting lane straddling behavior before the self-vehicle executes lateral movement control. This advance determination ensures that the self-vehicle only moves laterally when it is safe to do so, preventing collisions with adjacent vehicles while maintaining responsive control.
Solution Approach 2:
The control system continuously monitors the preceding vehicle's lateral position and lane straddling status, using this feedback information to dynamically adjust the self-vehicle's lateral movement control. This closed-loop feedback mechanism ensures safe operation while maintaining system responsiveness.
2Productivity
If the self-vehicle adjusts lateral position to follow the preceding vehicle, then preceding vehicle following control is effective, but the self-vehicle may approach obstacles in the same lane
Solution Approach 1:
The detection unit performs preliminary detection of obstacles in the self-vehicle's lane before lateral movement control is executed. By identifying obstacles in advance and determining their positions relative to the planned movement path, the system can prevent the self-vehicle from moving into hazardous zones, thereby maintaining effective following control while avoiding obstacles.
3Reliability
If lateral movement control is restricted when preceding vehicle moves laterally, then safety is improved, but the flexibility of the control system is reduced
Solution Approach 1:
The control system dynamically adjusts its behavior based on the preceding vehicle's lateral movement status. When lane straddling is detected, the system temporarily restricts lateral movement control to ensure safety. When no lane straddling is detected, the system resumes normal lateral movement control, providing flexibility. This dynamic adaptation resolves the contradiction between safety and flexibility.
Data Source
AI summary
A vehicle control apparatus controls movement of a vehicle in a lateral direction intersecting a direction in which the vehicle travels based on a movement trajectory of a preceding vehicle. The vehicle control apparatus includes a detection unit configured to detect a surrounding environment of the vehicle, and a preceding vehicle which travels ahead in the same lane in which the vehicle travels, a determination unit configured to determine whether or not the preceding vehicle straddles lanes or approaches within a set distance predetermined for the lanes based on lateral movement information of the preceding vehicle detected by the detection unit, and a control unit configured to control lateral movement of the vehicle based on a determination result of the determination unit and detection information of the detection unit.