Lane Boundary Validation Using Non-Lane-Changing Vehicle Paths
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Solution Overview
Problem
Automated driving technologies struggle to accurately determine the correctness of dividing lines when other vehicles are changing lanes, leading to potential errors in lane recognition.
Innovation Solution
A determination device and method that utilizes a first recognizer to identify surrounding conditions, including dividing lines and vehicle positions, and a second recognizer to use map information, with a determiner that adjusts correctness determinations based on the states of other vehicles, specifically ignoring lane changes by certain vehicles to ensure accurate line recognition.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the correctness determination uses the traveling paths of all recognized other vehicles, then the determination can be performed with available data, but the accuracy deteriorates when lane-changing vehicles are included
Solution Approach 1:
The patent extracts and excludes lane-changing vehicles from the set of vehicles used for correctness determination. The determiner identifies vehicles performing lateral movements and removes them from the determination process, using only the traveling paths of non-lane-changing vehicles to determine dividing line correctness, thereby preventing accuracy deterioration
Solution Approach 2:
Instead of determining which vehicles to include in the correctness determination, the patent inverts the approach by first identifying vehicles to exclude (those performing lateral movements) and then using the remaining vehicles for determination. This inversion resolves the contradiction by systematically filtering out problematic data sources
2Reliability
If the system performs correctness determination based on all other vehicles' traveling paths, then the process is simple and fast, but reliability decreases when lane-changing vehicles are present
Solution Approach 1:
The patent applies preliminary action by performing lateral movement detection on other vehicles before conducting the correctness determination. The determiner first identifies which vehicles are performing lateral movements and excludes them from the determination process, ensuring that only reliable vehicle data is used and thereby improving determination reliability
Solution Approach 2:
The patent introduces an intermediary filtering mechanism that separates lane-changing vehicles from non-lane-changing vehicles. This intermediary step evaluates the behavior of each recognized vehicle and selectively includes or excludes them from the correctness determination, resolving the conflict between reliability and process complexity
Data Source
AI summary
A determination device of an embodiment includes a first recognizer configured to recognize surrounding conditions including a first dividing line defining a traveling lane of a host vehicle and another vehicle present around the host vehicle based on an output of a detection device, a second recognizer configured to recognize a second dividing line defining a lane around the host vehicle from map, and a determiner configured to perform a correctness determination as to whether or not at least one of the first and the second dividing line is correct, in which when a first other vehicle that performs a lateral movement ahead of the host vehicle and a second other vehicle that doesn't perform a lateral movement ahead of the first other vehicle are present among a plurality of other vehicles recognized, the determiner doesn't perform the correctness determination based on a traveling path of the first other vehicle.