Adaptive Lateral Control for Lane Departure Prevention
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Solution Overview
Problem
Existing vehicle driving assistance systems face challenges in maintaining stable lane keeping when lane markings are temporarily absent or degraded, particularly at intersections and crosswalks, leading to errors in lane-keeping control.
Innovation Solution
An apparatus equipped with an image sensor and controller that recognizes road sections with and without lane markings, as well as preceding vehicles, to perform lateral control by adjusting weights based on the availability and reliability of lane markings and vehicle information, ensuring safe navigation through adaptive steering control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If lateral control is performed based on recognition of lane markings using a camera, then lane-keeping control can be achieved, but error occurs when lane markings temporarily disappear or recognition performance is degraded
Solution Approach 1:
The system dynamically switches between two control modes: lane marking-based lateral control and preceding vehicle-based lateral control. The controller selectively applies different control strategies based on road conditions, specifically whether lane markings are recognizable or absent (such as at intersections and crosswalks), thereby maintaining reliable lane-keeping control across varying environments.
Solution Approach 2:
The system changes the control parameter from relying solely on lane markings to relying on preceding vehicle information when lane markings are not recognizable. This parameter change allows the system to adapt to different road conditions and maintain control reliability without errors caused by degraded lane marking recognition.
2Reliability
If the system switches to following the preceding vehicle when lane markings are absent, then lane departure is prevented, but the complexity of control logic increases
Solution Approach 1:
The controller implements dynamic switching between control modes based on lane marking recognizability. When lane markings are recognizable, the system uses lane marking-based lateral control; when they are not recognizable (at intersections, crosswalks), the system switches to preceding vehicle-based lateral control. This dynamic adaptation prevents lane departure while managing control logic complexity through conditional branching.
Solution Approach 2:
The lateral control system is designed to perform multiple functions: it can operate in lane marking-based mode for normal roads and switch to preceding vehicle-based mode for roads without recognizable lane markings. This multi-functionality allows the single control system to handle diverse road conditions effectively.
3Measurement precision
If the system uses both lane markings and preceding vehicle information for lateral control, then control accuracy is improved, but the processing time increases
Solution Approach 1:
The system dynamically selects which information source to prioritize based on road conditions. When lane markings are recognizable, the system uses lane marking information for lateral control. When lane markings are not recognizable, the system switches to using preceding vehicle information. This dynamic selection improves lateral control accuracy by using the most reliable information source while minimizing processing time by not continuously processing both sources simultaneously.
Solution Approach 2:
The system performs preliminary recognition of lane markings and determines their recognizability before deciding which control mode to use. This preliminary action allows the system to prepare the appropriate control strategy in advance, improving response time and reducing processing delays when switching between control modes.
Data Source
AI summary
An apparatus for assisting driving of a host vehicle provides stable control of the host vehicle by using road conditions including intersections, crosswalks and the like, forward lane markings, and a preceding vehicle. The apparatus includes an image sensor to capture images of an area in front of the host vehicle, and a controller configured to recognize a road section having no lane markings on a drive path, or recognize forward lane markings. The controller performs lateral control of the host vehicle selectively based on the forward lane markings and the recognized preceding vehicle according to whether the road section having no lane markings is recognized.