Vehicle Passing Control on Narrow Roads After Evasive Maneuvers
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Solution Overview
Problem
Existing vehicle control systems do not provide a method for determining a traveling procedure for resuming travel after a host vehicle performs an escaping action, especially in narrow road environments where vehicles cannot pass each other.
Innovation Solution
A vehicle control apparatus that includes a candidate area determination unit to identify passable areas, an action plan determination unit to set a sequence of action steps, a trajectory generation unit to generate travel trajectories, and an action plan update unit to update the action plan based on the position of moving objects, allowing the vehicle to safely resume travel.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the host vehicle performs an escaping action to pass an oncoming vehicle on a narrow road, then the vehicle can safely navigate the narrow road, but the traveling procedure for resuming travel after the escaping action is not determined
Solution Approach 1:
The traveling procedure is segmented into multiple distinct phases: escaping action phase and resuming travel phase. The action plan is divided into multiple action steps, where each step corresponds to a specific phase of the passing maneuver. This segmentation allows the system to systematically determine and execute each phase separately, resolving the complexity of determining the complete traveling procedure.
Solution Approach 2:
The system determines the complete action plan including both the escaping action and the subsequent resuming travel action in advance, before actually executing them. The action plan determination unit generates a sequence of action steps that covers the entire passing maneuver from escape to resume. This preliminary determination of the complete procedure eliminates the gap in determining what to do after the escaping action.
2Ease of operation
If the vehicle control apparatus determines a complete action plan including resuming travel, then the traveling procedure is appropriately set, but the complexity of the control system increases
Solution Approach 1:
The action plan determination unit is designed to universally handle multiple phases of the passing maneuver through a single integrated function. Rather than requiring separate control systems for escaping and resuming, this single unit determines the complete sequence of actions including both phases. This multi-functionality approach maintains ease of operation while avoiding the need for additional complex control structures.
Solution Approach 2:
The action plan creates a continuous sequence of useful actions from the escaping maneuver through to resuming normal travel. The action steps are linked in a continuous flow where the end of one action naturally transitions to the next, ensuring no gaps or interruptions in the control logic. This continuity simplifies the control system by eliminating the need for separate determination processes for different phases.
3Reliability
If the host vehicle waits for the oncoming vehicle in the passable area, then safe passage is ensured, but the traveling time is extended
Solution Approach 1:
The action plan is designed to be dynamic and adaptive rather than static. The system continuously monitors the positions of both vehicles and adjusts the timing and duration of the waiting action accordingly. The action plan determination unit generates a flexible sequence that optimizes the waiting time based on real-time conditions, allowing the vehicle to pass as quickly and safely as possible rather than following a fixed time-based protocol.
Data Source
Figure 1
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Figure 3b~4b
AI summary
To provide a vehicle control apparatus having a function capable of appropriately setting a traveling procedure for resuming traveling after a host vehicle performs an escaping action. A vehicle control apparatus includes a candidate area determination unit 12 that determines a passable area 601, which is an area where a host vehicle 2 and an oncoming vehicle 600 around the host vehicle can pass each other, on a road where there is an area where the host vehicle 2 and the oncoming vehicle 600 cannot pass each other, an action plan determination unit 13 that determines an action plan indicating a sequence of action steps 602, 605 of the host vehicle 2, a trajectory generation unit 14 that generates a travel trajectory of the host vehicle 2 in the passable area, an action plan update unit 15 that can update the action plan based on a position of the oncoming vehicle 600 within the passable area 601 and a travel trajectory of the host vehicle generated by the trajectory generation unit 14, and a travel control unit 16 that controls travel of the host vehicle 2 according to the action plan.