Vehicle Path Generation for Stable Positioning Beside Parallel Traffic
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Solution Overview
Problem
Existing path generation systems for vehicles with automatic driving or driving assistance functions fail to adequately manage frequent path changes when vehicles traveling in parallel on both left and right sides, leading to occupant discomfort due to inconsistent vehicle positioning.
Innovation Solution
A path generation apparatus that includes an external sensor and an electronic control unit to detect surrounding vehicles, generate a target path, and adjust or prohibit path offsets based on vehicle overlap and proximity, using determination units to ensure smooth and consistent vehicle behavior.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the target path is frequently changed to keep distance from parallel vehicles, then safety and comfort are improved, but occupant comfort deteriorates due to sense of incongruity
Solution Approach 1:
The system changes the parameter of target path offset amount based on detection results. When a parallel vehicle is detected, the target path is offset from the lane center by a first offset amount; when no parallel vehicle is detected, it is offset by a second offset amount (greater than the first). This dynamic parameter adjustment maintains safety while improving occupant comfort by avoiding excessive path changes.
Solution Approach 2:
The system continuously detects the presence of parallel vehicles and adjusts the target path offset accordingly. The offset amount is determined based on feedback from vehicle detection, creating a closed-loop control system that balances safety requirements with occupant comfort by adapting to real-time traffic conditions.
Data Source
AI summary
Path generation apparatus, includes: sensor mounted on vehicle and detecting external situation with advancing direction of vehicle as center; and ECU including processor and memory. ECU perform: acquiring location information of object in surrounding area of vehicle based on external situation detected by sensor; generating target path of vehicle based on location information; determining whether buffer area within predetermined range in width direction from vehicle-traveling-in-parallel in adjacent lane overlaps target path based on location information; offsetting target path in direction away from vehicle-traveling-in-parallel when buffer area overlaps target path; determining whether vehicle-traveling-in-parallel in left adjacent lane and vehicle-traveling-in-parallel in right adjacent lane are present within predetermined range based on location information; and prohibiting offsetting of target path when vehicle-traveling-in-parallel in left adjacent lane and vehicle-traveling-in-parallel in right adjacent lane are present within the predetermined range.