Intersection Trajectory Control Using Boundary-Line Reference Points
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Conventional driving assistance technologies require advance preparation of intersection information, making it difficult for vehicles to navigate intersections appropriately without complex configurations.
Innovation Solution
A vehicle control device that recognizes the surrounding situation, generates a travel trajectory through identifying reference points at a four-way intersection, and controls the vehicle to follow a boundary line derived from these points, enabling safe navigation without prior intersection information.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If conventional driving assistance technology is used, then intersection navigation can be achieved, but the system requires complex advance preparation of intersection information
Solution Approach 1:
The system uses the vehicle's own recognition unit to detect and identify intersection elements (road boundaries, contact points) in real-time, rather than relying on externally provided intersection information. The vehicle serves itself by using its sensors and processing capabilities to generate navigation data autonomously
Solution Approach 2:
The system extracts only the essential geometric elements needed for navigation (contact points between roads, boundary lines) from the complex intersection environment, rather than processing complete intersection information maps. This extraction approach simplifies the data structure while maintaining navigation capability
2Measurement precision
If advance intersection information is prepared, then accurate navigation trajectories can be generated, but the system becomes complex and requires pre-mapped intersections
Solution Approach 1:
The system performs preliminary identification of contact points and boundary lines as the vehicle approaches the intersection, using recognition unit data to prepare trajectory information in advance of actually needing it for navigation. This real-time preliminary action replaces offline map preparation
Solution Approach 2:
The contact points and boundary lines serve as intermediary geometric elements that mediate between the raw sensor data from the recognition unit and the final navigation trajectory. These intermediaries simplify the transformation process while maintaining accuracy
Data Source
AI summary
A vehicle control device includes: a recognition unit; a trajectory generation unit; and a travel control unit, and in a case where the intersection is a four-way intersection connecting first to fourth roads as defined herein, and the vehicle is to travel from the first road to the third road, the trajectory generation unit identifies: a first reference point that is a contact point between the first road and the second road; and a second reference point that is a contact point between the third road and the fourth road or an intersection center that is a center of the intersection, based on a recognition result of the recognition unit, derives a first boundary line that is a line segment passing through the first reference point and the second reference point or the intersection center, and generates the travel trajectory along the first boundary line.