Autonomous Vehicle Merge Control via Time Parameter Comparison
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Solution Overview
Problem
Automated driving systems face challenges in determining when to transfer control from autonomous to human operation during lane changes, particularly in assessing the adequacy of time to complete a merge maneuver based on road geometry, speed, and traffic conditions.
Innovation Solution
The system calculates a first time parameter based on the distance to a merge location and a second time parameter based on speed limits, road geometry, and traffic density, and automatically discontinues autonomous control if the difference between these parameters is less than a predetermined tuning parameter, allowing for human intervention.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the autonomous vehicle attempts to complete a merge maneuver, then the productivity of the lane change operation is improved, but the reliability of safe merging is worsened when insufficient time remains
Solution Approach 1:
The system performs preliminary assessment of merge feasibility by calculating the time parameter before initiating the lane change maneuver. This allows the vehicle to determine in advance whether sufficient time exists to complete the merge safely, preventing unsafe maneuvers from being initiated in the first place
Solution Approach 2:
The system continuously monitors the time parameter during the lane change process and provides feedback to the control system. When the time parameter falls below the threshold, the system automatically discontinues autonomous control and alerts the driver, enabling real-time adjustment based on actual merging conditions
2Ease of operation
If autonomous control is maintained during merge maneuvers, then the ease of operation is improved for the driver, but the reliability of safe merging is worsened when time is insufficient
Solution Approach 1:
The system provides continuous feedback to the driver through alerts and notifications when the time parameter indicates insufficient time for safe merging. This maintains autonomous operation for routine maneuvers while ensuring driver awareness and intervention capability when conditions become unsafe
Solution Approach 2:
The system dynamically adjusts the level of autonomous control based on the time parameter. When sufficient time exists, full autonomous control is maintained for driver convenience. When time becomes insufficient, the system transitions to driver-controlled mode, dynamically adapting the automation level to current safety conditions
Data Source
AI summary
An automotive vehicle includes at least one actuator configured to control vehicle steering, shifting, acceleration, or braking, at least one sensor configured to provide signals indicative of road geometry in the vicinity of the vehicle, and a controller in communication with the sensor and the actuator. The controller is configured to selectively control the actuator in an autonomous driving mode based on signals from the sensor. The controller is configured to automatically determine a first time parameter based on a distance to a merge location between a current driving lane of the vehicle and a target lane adjacent the current driving lane in response to signals from the sensor, to automatically determine a second time parameter based on a calculated merge completion time, and to automatically discontinue autonomous control of the actuator based on a difference between the first time parameter and the second time parameter.