Autonomous Driving Control Region Storage for Lane Stability
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Solution Overview
Problem
Existing autonomous vehicle control systems face challenges in maintaining stable lane positioning when switching between both-side and one-side barrier line recognition, particularly near toll booths or road width changes, leading to potential swaying and safety concerns.
Innovation Solution
A method and device that store the current region as a steering-wheel-turned region when control switches between both-side and one-side recognition, continuing the preceding control mode within that region to minimize sudden turns and maintain ride stability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If control is switched between both-side recognition control and one-side recognition control near toll booths or road width changes, then the host vehicle can adapt to different road conditions, but the host vehicle sways left and right causing ride quality issues and safety concerns
Solution Approach 1:
The system performs preliminary action by storing the current region as a steering-wheel-turned region when control switching is detected. This stored region information is then used to maintain the preceding control mode when re-entering the same region, preventing unnecessary control switching and resulting swaying before the vehicle actually reaches the toll booth or road width change area.
2Measurement precision
If both-side recognition control is used to keep the host vehicle in the center of the lane, then positioning accuracy is improved, but when only one barrier line is available, the system must switch to one-side recognition control which may cause vehicle swaying
Solution Approach 1:
The system uses feedback by monitoring whether the host vehicle has re-entered a previously stored steering-wheel-turned region. When the same region is detected again, the system feedbacks to maintain the preceding control mode instead of switching control modes again, thereby ensuring control stability and preventing repeated swaying while still allowing accurate positioning when barrier lines are available.
3Adaptability or versatility
If control switching is performed frequently to adapt to changing barrier line availability, then the system can handle various road scenarios, but frequent switching causes severe swaying affecting safety and ride quality
Solution Approach 1:
By storing the steering-wheel-turned region information in advance when control switching occurs, the system takes preliminary action to prevent future unnecessary switching. When the vehicle re-enters the stored region, the system recognizes it and maintains the preceding control mode, thereby avoiding frequent switching and the harmful swaying it causes while still maintaining adaptability to actual road condition changes.
Data Source
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AI summary
A position of a host vehicle in a lane being traveled in is controlled using barrier lines as a reference. Barrier lines ahead of the host vehicle are recognized and autonomous driving is executed by either both-side recognition control in which the position of the host vehicle is controlled based on barrier lines on both the left and right sides of the host vehicle, or one-side recognition control in which the position of the host vehicle is controlled based on the barrier line on either one of the left and right sides of the host vehicle. A region currently being traveled in is stored as a steering-wheel-turned region when a steering wheel is turned in one direction and subsequently turned in a returning direction due to the switching of control between the both-side recognition control and the one-side recognition control, and autonomous driving under the control preceding the steering-wheel-turned region is continued when the steering-wheel-turned region is subsequently traveled in.