Vehicle Steering Assistance That Adapts to Driver Avoidance Input
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Solution Overview
Problem
Existing vehicle control systems fail to appropriately reflect the occupant's steering operation in the vehicle's behavior, particularly during collision avoidance scenarios, leading to potential misalignment between the driver's intent and the vehicle's response.
Innovation Solution
A vehicle control method and device that recognizes the surrounding situation and the occupant's steering state, providing feedback control to adjust the steering angle and suppress assistance when necessary, ensuring the vehicle follows the intended trajectory while considering lane-keeping and speed adjustments.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If avoidance steering assistance is executed to control the vehicle along the avoidance target trajectory, then collision avoidance capability is improved, but the occupant's steering operation is not appropriately reflected in the vehicle's behavior
Solution Approach 1:
The steering angle correction value is dynamically adjusted based on the magnitude of the occupant's steering operation. When the occupant's steering operation exceeds a threshold, the correction value is reduced or set to zero, allowing the vehicle to follow the occupant's intended trajectory rather than forcing it back to the pre-calculated avoidance trajectory. This dynamic adjustment resolves the contradiction by making the system adaptable to real-time occupant input.
Solution Approach 2:
The system continuously monitors the occupant's steering operation and uses this feedback to adjust the steering angle correction value in real-time. When the occupant's steering is detected to be significant, the feedback loop reduces the system's corrective action, allowing the occupant's intent to prevail. This feedback mechanism ensures both collision avoidance safety and proper reflection of occupant steering operations.
2Manufacturing precision
If feedback control is executed to return the vehicle to the avoidance target trajectory, then trajectory tracking accuracy is improved, but the occupant's steering intent is overridden
Solution Approach 1:
The feedback control gain is made dynamic rather than fixed. The steering angle correction value applied in feedback control is modulated based on the detected occupant steering operation. When occupant steering is significant, the correction value is reduced, allowing the vehicle to adapt to the occupant's intended trajectory modification. This resolves the contradiction by making trajectory tracking accuracy conditional on the absence of significant occupant steering input.
Solution Approach 2:
The system changes the parameter of steering angle correction value based on the magnitude of occupant steering operation. By adjusting this parameter dynamically, the system can switch between strict trajectory tracking (when no occupant input is detected) and occupant-intent-following (when significant steering input is detected), thereby resolving the contradiction between tracking accuracy and intent adaptation.
3Reliability
If avoidance steering assistance is provided with high correction values, then collision avoidance effectiveness is improved, but vehicle stability during occupant steering operations deteriorates
Solution Approach 1:
The steering angle correction value is dynamically adjusted based on real-time detection of occupant steering operations. When the occupant's steering operation exceeds a predetermined threshold, the correction value is reduced or eliminated, preventing conflicting steering inputs that would cause vehicle instability. This dynamic adjustment maintains collision avoidance effectiveness during normal operation while ensuring stability when the occupant is actively steering.
Solution Approach 2:
The system uses feedback from steering state detection to continuously adjust the correction value applied during avoidance steering assistance. This feedback mechanism ensures that high correction values are only applied when the occupant is not actively steering, thereby maintaining both collision avoidance effectiveness and vehicle stability under different operating conditions.
Data Source
AI summary
A vehicle control method of an embodiment includes recognizing, by a computer, a surrounding situation of a vehicle, detecting, by the computer, a steering state of an occupant, executing, by the computer, avoidance steering assistance so that the vehicle travels along an avoidance target trajectory for avoiding an obstacle when it is determined that the vehicle is likely to come into collision with the obstacle on the basis of the recognized surrounding situation of the vehicle, and suppressing, by the computer, the avoidance steering assistance for the avoidance target trajectory when a steering operation of the occupant has been detected while the avoidance steering assistance is being executed.