Branch-Lane Trajectory Control Using Virtual Demarcation Lines
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Solution Overview
Problem
Existing vehicle control systems struggle to generate appropriate target trajectories and perform effective driving control in branch sections where main lanes merge with multiple branch lanes, as demarcation lines may be absent, leading to inadequate lane change decisions.
Innovation Solution
A vehicle control device that recognizes surroundings using detection devices and map information to identify a number-of-lanes increase start position, generates a target trajectory passing through this position, and controls speed and steering to navigate branch lanes, employing virtual demarcation lines when real ones are undetectable.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the system relies on demarcation lines for trajectory generation, then trajectory accuracy is improved, but the system fails in branch sections where demarcation lines are absent
Solution Approach 1:
The patent introduces a virtual demarcation line as an intermediary element to bridge the gap between the detection device and the trajectory generation algorithm. When real demarcation lines are absent in branch sections, the system generates virtual demarcation lines based on map information and detected lane positions, allowing the trajectory generation to proceed without direct visual detection of physical markers.
Solution Approach 2:
The system performs preliminary actions by pre-generating virtual demarcation lines and storing map information about branch sections before the vehicle actually reaches them. This allows the trajectory generation algorithm to have reference data ready in advance, enabling smooth transitions into branch lanes even when physical demarcation lines are not yet visible or present.
2Measurement precision
If the system uses only detection device data, then real-time accuracy is improved, but reliability decreases when demarcation lines are not detectable
Solution Approach 1:
The patent merges multiple information sources including detection device data, map information, and virtual demarcation line data to create a more reliable trajectory generation system. By combining these sources, the system maintains reliability in branch sections where detection devices alone would fail to provide sufficient information.
Solution Approach 2:
The system prepares cushioning data in the form of virtual demarcation lines and map information before the vehicle encounters branch sections. This preparatory data acts as a cushion or backup when real-time detection fails, ensuring continuous reliable operation without sudden failures or loss of control.
3Device complexity
If the system generates trajectories without considering number-of-lanes increase positions, then processing simplicity is maintained, but driving control appropriateness deteriorates in branch sections
Solution Approach 1:
The system performs preliminary identification of number-of-lanes increase start positions using map information before trajectory generation. This advance identification allows the system to prepare appropriate trajectory parameters and virtual demarcation lines, ensuring driving control appropriateness without adding complex real-time processing during actual trajectory generation.
Data Source
AI summary
A vehicle control device according to an embodiment includes a recognizer that recognizes a surroundings situation of a host vehicle, and a driving controller that generates a target trajectory for the host vehicle on the basis of a recognition result of the recognizer, and control one or both of speed and steering of the host vehicle so that the host vehicle travels along the generated target trajectory, the recognizer searches for, in a branch section in which a main lane and a plurality of branch lanes are connected, a number-of-lanes increase start position satisfying a predetermined condition in a start point direction of the branch section from a maximum width position of the branch section, and the driving controller generates the target trajectory passing through the number-of-lanes increase start position and traveling in the branch lane.