Emergency Steering Lane-Type Detection From a Single Lane Marking
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Solution Overview
Problem
The collision avoidance assist apparatus struggles with accurately determining lane types (straight vs. curved) during emergency steering control due to low recognition reliability of lane markings, leading to inadequate execution of stopping or continuing the control, resulting in potential vehicle movement out of the defined lane.
Innovation Solution
The apparatus includes a lane marking recognition device and an electronic control unit that calculates lane marking recognition reliability levels and shape parameters to determine lane types accurately, ensuring precise execution of emergency steering control by considering only reliable markings and avoiding unnecessary stops or continuations of the control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the collision avoidance assist apparatus executes emergency steering control based on recognition of both left and right lane markings, then the vehicle can avoid collision with obstacle, but the recognition reliability of lane markings becomes low due to lateral motion and blinding by obstacle
Solution Approach 1:
The patent extracts and uses only the lane marking on the side opposite to the obstacle (the side the vehicle will pass by) for determining lane type during emergency steering control. This selective extraction of reliable information avoids the problem of low recognition reliability caused by lateral motion and obstacle blinding of the other lane marking.
2Ease of operation
If the collision avoidance assist apparatus determines lane type using both left and right lane markings during emergency steering control, then the lane type determination can be made, but the accuracy of determination becomes low due to low recognition reliability
Solution Approach 1:
The patent extracts and uses only the lane marking on the side opposite to the obstacle for determining lane type during emergency steering control. This selective extraction maintains the capability to determine lane type while improving accuracy by relying only on reliably recognized markings.
Data Source
AI summary
A collision avoidance assist apparatus executes an emergency steering control including processes to determine a target steering torque used to change a steering angle to avoid a collision of a vehicle with an obstacle so as not to move the vehicle out of a moving lane when the vehicle has a high probability of colliding with the obstacle, and the moving lane is a straight lane, and applies a steering torque corresponding to the determined target steering torque to a steering mechanism. The collision avoidance assist apparatus stops executing the emergency steering control when determining that the moving lane is a curved lane, based on only one of left and right lane markings at an avoidance side of the obstacle which is the left or the right side of the obstacle which the vehicle passes over while executing the emergency steering control.