Intersection Turn Assistance Using Correct and Erroneous Route Control
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Solution Overview
Problem
Conventional driving assistance systems face challenges in maintaining traveling stability when a vehicle turns at an intersection, as the curvature of the target route can result in large steering angles, leading to deviation from the intended lane, especially due to varying vehicle turning characteristics, making it difficult to return to the target route.
Innovation Solution
The system generates both a correct route and an erroneous route at the intersection, using environment information and vehicle position data to determine the correct lane for turning, and employs intervention control to steer the vehicle back to the correct route when it deviates, utilizing a combination of feedback and intervention controls to prevent entering the opposite lane.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If feedback control is used to converge vehicle position to target route, then deviation amount converges to target route, but vehicle may enter opposite lane at intersection due to large steering angles
Solution Approach 1:
The system generates both a correct route and an erroneous route before the vehicle enters the intersection. The erroneous route is positioned on the opposite lane side, and the system determines which side the vehicle is likely to deviate to based on vehicle position, enabling preventive intervention control before the deviation occurs.
Solution Approach 2:
The intervention controller executes intervention control to return the traveling direction to the correct route side when the vehicle is determined to be on the erroneous route side, counteracting the potential deviation before it results in entering the opposite lane.
2Reliability
If intervention control is added to correct route deviation, then traveling stability improves, but control system complexity increases
Solution Approach 1:
The system generates both correct and erroneous routes in advance before intersection entry, and pre-determines the erroneous route side based on vehicle position characteristics. This preliminary preparation enables simple conditional judgment during intersection traversal without complex real-time calculations.
Solution Approach 2:
The erroneous route is specifically generated only for the opposite lane side where deviation is most likely to occur, and intervention control is applied locally only when the vehicle is determined to be on the erroneous route side, rather than continuously adjusting the entire control system.
3Manufacturing precision
If target route curvature is increased to follow intersection geometry, then route accuracy improves, but steering angle increases causing vehicle deviation
Solution Approach 1:
The system generates the erroneous route and determines the erroneous route side before the vehicle enters the intersection, based on pre-acquired vehicle position information and road map data. This allows the system to prepare intervention strategies in advance rather than reacting to large deviations after they occur.
Solution Approach 2:
The erroneous route acts as an intermediary reference that mediates between the correct route and the potential deviation path. By comparing vehicle position against both correct and erroneous routes, the system can detect early signs of deviation and apply corrective steering before the vehicle actually enters the opposite lane.
Data Source
AI summary
A driving assistance apparatus for a vehicle includes an environment information acquisitor, a vehicle position estimator, a target route setter, and a controller. The environment information acquisitor acquires environment information in front of the vehicle. The vehicle position estimator estimates a position of the vehicle on a road. The target route setter sets a target route of the vehicle. The controller causes the vehicle to travel along the target route. The controller includes an intersection determiner, a right-left turn determiner, a route generator, and an intervention controller. The intersection determiner determines whether an intersection is in front of the vehicle based on the environment information. The right-left turn determiner determines whether the vehicle turns right or left at the intersection. The route generator generates correct and erroneous routes. The intervention controller executes intervention control to return a traveling direction of the vehicle toward the correct route from the erroneous route.