Vehicle Driving Mode Control for Map Centerline Distortion
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Solution Overview
Problem
Existing vehicle control systems struggle to detect distortion in map road centerlines based on map information alone, leading to inadequate driving control adjustments.
Innovation Solution
A vehicle control device and method that utilize camera images and map information to determine driving modes, adjusting between different modes based on the margin for continuing travel using map road centerlines, and switching to camera-based control when necessary to account for map distortion.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If vehicle control is performed based on map road centerline, then automated driving control can be maintained, but distortion of the map road centerline cannot be detected leading to inappropriate driving control
Solution Approach 1:
The system calculates a margin value that represents the safety buffer for continued automated driving based on map road centerline. This margin is fed back to the driving mode determination unit, which uses it to decide whether to maintain or switch driving modes, creating a feedback loop that ensures reliable automated control while detecting map distortion risks
Solution Approach 2:
The patent introduces a margin calculation unit as an intermediary between the automated driving control and the driving mode determination. This intermediary calculates the margin based on map road centerline distortion and acts as a mediator to trigger mode switching when the margin becomes insufficient, resolving the contradiction by adding an intermediate safety assessment layer
2Measurement precision
If driving mode is changed frequently between camera-based and map-based control, then detection accuracy improves, but system complexity and control stability deteriorate
Solution Approach 1:
The system uses a margin parameter calculated from map road centerline distortion to determine when to switch between driving modes. By changing the control parameter from direct distortion detection to margin-based decision making, the system achieves accurate road detection while simplifying the control logic and maintaining stability
3Reliability
If margin calculation is performed continuously, then driving safety is improved, but computational load and processing time increase
Solution Approach 1:
The margin calculation is performed periodically at each control cycle rather than continuously, which maintains driving safety through regular safety assessments while reducing computational load and processing time by eliminating redundant calculations between cycles
Data Source
AI summary
Provided is a vehicle control device configured to acquire a camera image obtained by imaging a peripheral situation of a vehicle, control steering and acceleration or deceleration of the vehicle on the basis of the camera image and map information irrespective of an operation of a driver of the vehicle, determine a driving mode of the vehicle to be any of a plurality of driving modes including a first driving mode and a second driving mode, calculate a margin for the vehicle to continue traveling in the second driving mode on the basis of a speed of the vehicle and a distance to an intersection between a map road centerline indicated in the map information and any one of map road partition lines on both sides, and determine whether to cause the vehicle to continue the second driving mode referring to the map road centerline on the basis of the margin when the vehicle is traveling in the second driving mode referring to the map road centerline.