Intersection Path Generation for Autonomous Vehicle Control
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Solution Overview
Problem
Current driver assistance systems face challenges in precisely controlling vehicle movement at intersections, especially where guide lanes are mixed or absent, leading to increased collision risks during autonomous driving.
Innovation Solution
An apparatus and method that utilize an image sensor, map storage, and a controller to identify intersection areas, calculate precise positions of intersection points, and generate vehicle travel paths based on lane characteristics, enabling safe autonomous driving by automatically controlling vehicle movement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If autonomous driving control is implemented at intersections with mixed or absent guide lanes, then automation level increases, but measurement precision of vehicle position and path decreases
Solution Approach 1:
The patent introduces an intermediary path generation apparatus that bridges the gap between automated driving control and precise position measurement. This apparatus calculates a reference path by determining intersection points between the vehicle's current path and guide lanes, serving as a mediator that enables accurate position measurement even when guide lanes are mixed or absent. The intermediary system processes image data, map information, and vehicle state data to generate a reliable reference path that the vehicle can follow autonomously.
Solution Approach 2:
The patent transitions from two-dimensional guide lane markings to three-dimensional spatial path calculation by determining intersection points in multiple dimensions. The path generation apparatus calculates reference paths considering longitudinal and lateral positions, as well as curvature and orientation, effectively adding dimensional complexity to resolve the precision problem in automated driving at intersections.
2Reliability
If precise control is implemented for vehicle travel at intersections, then collision risk decreases, but device complexity increases
Solution Approach 1:
The patent segments the complex control problem into distinct functional modules: an image sensor unit for capturing lane markings and guide lines, a map information storage unit for storing intersection data, a path generation unit for calculating reference paths, and a vehicle control unit for executing steering and braking commands. This segmentation reduces overall system complexity by making each component's function specific and manageable while maintaining high reliability through coordinated operation.
Solution Approach 2:
The path generation apparatus performs preliminary calculations of the reference path before the vehicle reaches the intersection. By pre-calculating the optimal path based on current vehicle position, guide lane configurations, and intersection geometry, the system prepares control commands in advance, reducing the need for complex real-time decision-making during critical moments and thereby lowering overall system complexity while maintaining safety.
3Manufacturing precision
If multiple intersection points are calculated to generate vehicle travel paths, then path precision improves, but calculation time increases
Solution Approach 1:
The patent applies partial action by calculating only the necessary intersection points required for generating the reference path, rather than computing all possible geometric intersections. The path generation unit identifies and processes only those intersection points that are relevant to the vehicle's current trajectory and the active guide lanes, reducing calculation time while maintaining sufficient path precision for safe autonomous driving.
Data Source
AI summary
Provided is a vehicle path generating apparatus at an intersection and an apparatus and method for controlling a vehicle at an intersection that are capable of providing safe autonomous driving at an intersection by calculating the accurate position of an intersection point, which is a cut position of a lane or a crossing position of lanes, in an intersection area using map information and/or image information, precisely calculating a vehicle movement path in the intersection on the basis of the calculated position of the intersection point, and automatically controlling a travel of the vehicle according to the calculated vehicle travel path.