Vehicle Merging Controller for Multi-Vehicle Interference Avoidance
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Solution Overview
Problem
Existing vehicle control systems struggle to perform appropriate merging into a merging destination lane due to varying traffic conditions, as they fail to effectively assess and adjust lane changes based on the relative positions and speeds of multiple vehicles.
Innovation Solution
A vehicle control device and method that employs a recognizer to identify vehicle positions and speeds in the merging path and main lanes, generating plans for lane changes based on relative relationships and interference criteria, allowing the self-vehicle to change lanes while avoiding interference with other vehicles, using determination information to adjust plans dynamically.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If the vehicle control device uses a simple lane change plan based on single vehicle assessment, then the control logic is simple, but the merging appropriateness deteriorates under varying traffic conditions
Solution Approach 1:
The patent segments the traffic assessment into multiple independent evaluation stages: first assessing the target vehicle for lane change, then assessing adjacent vehicles (third and fourth vehicles) for potential interference. This segmentation allows the system to handle complex multi-vehicle interactions through a series of simpler, modular assessments, resolving the contradiction between control logic simplicity and merging appropriateness.
Solution Approach 2:
The patent performs preliminary interference assessment by predicting the behavior of the third vehicle (in the first main lane) and fourth vehicle (in the second main lane) before executing the lane change. By evaluating whether the third vehicle can change to the second main lane without interfering with the fourth vehicle, the system proactively prevents potential conflicts, improving merging appropriateness while maintaining clear control logic.
2Reliability
If the vehicle control device assesses multiple vehicles and adjusts lane change plans dynamically, then the merging appropriateness is improved, but the control logic complexity increases
Solution Approach 1:
The patent implements dynamic lane change planning by continuously adjusting the merging strategy based on real-time traffic conditions. The system dynamically evaluates the relative positions and speeds of multiple vehicles (target vehicle, third vehicle, fourth vehicle) and modifies the lane change plan accordingly. This dynamic approach improves merging appropriateness while the modular assessment structure prevents excessive complexity.
Solution Approach 2:
The patent incorporates feedback mechanisms where the assessment results of the third vehicle and fourth vehicle interactions feed back into the lane change decision-making process. If the assessment indicates potential interference between the third and fourth vehicles, the system adjusts the lane change plan for the own vehicle accordingly. This feedback loop ensures high merging appropriateness while maintaining manageable control logic through structured information flow.
3Productivity
If the vehicle control device considers interference between third and fourth vehicles, then the merging efficiency is improved, but the detection and measurement difficulty increases
Solution Approach 1:
The patent performs preliminary detection of the third and fourth vehicles and their potential interference before the own vehicle executes the lane change. By assessing the relative positions and speeds of these vehicles in advance and predicting their interaction, the system identifies safe merging opportunities without requiring complex real-time analysis during the actual lane change execution, thus improving merging efficiency while managing detection difficulty.
Solution Approach 2:
The patent focuses assessment on critical parameters (relative position and speed) rather than comprehensive vehicle states. By monitoring changes in these key parameters of the third and fourth vehicles, the system can effectively detect potential interference with simplified measurement requirements. This parameter-focused approach improves merging efficiency by identifying safe merging windows without excessive detection complexity.
Data Source
AI summary
A vehicle control device includes a merging controller configured to generate a first plan for changing a lane of the self-vehicle to in front of or behind a first vehicle, based on a relative relationship between a position and a speed of the self-vehicle and the first vehicle, and allow the self-vehicle to change lanes to the first main lane based on the first plan when it is estimated that a third vehicle is able to change lanes to a second main lane adjacent to the first main lane without interfering with a fourth vehicle, based on a relative relationship between a position and a speed of the first vehicle or a second vehicle present behind the self-vehicle and traveling and the fourth vehicle in a case where it is assumed that the self-vehicle has changed lanes to the first main lane based on the first plan.