Lane-Keeping Assist Path Shift Around Cones on Lane Lines
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Solution Overview
Problem
Existing vehicle drive assist systems cause driver discomfort when navigating through construction areas with traffic cones, poles, or construction signboards placed on lane dividing lines, as they force the vehicle to travel close to these objects, leading to a scary driving experience.
Innovation Solution
A vehicle drive assist apparatus equipped with a stereo camera and processor that recognizes lane dividing lines and adjusts the vehicle's target travel course by correcting the lateral position of detected static three-dimensional objects, such as traffic cones or poles, to maintain the vehicle at a safe distance from these objects, thereby preventing driver discomfort.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the vehicle drive assist system recognizes lane dividing lines by detecting edge points where luminance changes, then the lane dividing lines can be accurately recognized, but the vehicle travels too close to static objects (traffic cones, poles, construction signboards) placed on the lane dividing lines, causing driver discomfort
Solution Approach 1:
The system performs preliminary detection of static three-dimensional objects (traffic cones, poles, construction signboards) on or near the lane dividing lines before determining the target travel course. By detecting these objects in advance and continuously monitoring their presence across multiple frames, the system can proactively adjust the travel course to maintain a safe distance from them, preventing driver discomfort before it occurs
Solution Approach 2:
The system introduces an intermediary correction mechanism between the lane dividing line detection and the target travel course determination. When static objects are detected, the system generates a corrected approximate line that serves as an intermediary reference, shifting the target travel course laterally to maintain a predetermined safe distance from the static objects while still following the lane dividing lines
2Object-affected harmful factors
If the system maintains a safe distance from static objects by correcting the target travel course, then driver discomfort is prevented, but the vehicle may deviate from the center of the travel lane
Solution Approach 1:
The system dynamically adjusts the target travel course based on the presence and position of static objects. The correction amount is calculated based on the lateral position of the static object relative to the lane dividing line, allowing the system to maintain safe distances from objects while adapting to different road conditions and object positions, rather than using a fixed offset
3Reliability
If the system continuously detects static objects on lane dividing lines to prevent driver discomfort, then safety is improved, but the device complexity increases
Solution Approach 1:
The system utilizes the existing image data from the external environment recognizer (stereo camera) that is already being used for lane dividing line detection. By processing this existing image data to detect static three-dimensional objects and their positions, the system achieves enhanced safety functionality without requiring additional sensors or complex hardware, leveraging the self-service capability of the existing imaging system
Data Source
AI summary
A vehicle drive assist apparatus includes an external environment recognizer, a traveling environment recognizer, and a processor. The traveling environment recognizer recognizes travel lane sides of dividing lines defining a travel lane as two approximate lines each in a linear form based on the image data on a traveling environment acquired by the external environment recognizer. When a static three-dimensional object has been continuously detected on or near one of dividing lines based on the image data, the processor sets a virtual approximate line by correcting the lateral position of the approximate line of the one of the dividing lines in a direction apart from the static three-dimensional object toward the middle of the travel lane by a predetermined correction amount, and sets a target travel course in the middle between the virtual approximate line and the approximate line of the other of the dividing lines.