Autonomous Vehicle Path Filter for Lane Center Transitions
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Solution Overview
Problem
Lane centering systems in vehicles face challenges when lane markers are not detectable, leading to sudden lateral movements or 'jumps' due to the loss of lane marker visibility, especially in low-light conditions or when markers wear away, causing discomfort to occupants.
Innovation Solution
A vehicle computer with a processor and camera system that applies different path filters based on lane marker detection, steerable path prediction confidence levels, and model changes to smoothly transition the vehicle between lane centers, preventing sudden lateral movements by selecting from low, moderate, high, or coasting filters.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the lane centering system autonomously operates the vehicle relative to the detected lane center, then the vehicle can maintain its position in the lane, but sudden lateral movements or 'jumps' occur when lane markers are not detectable
Solution Approach 1:
The system applies a path filter before the vehicle responds to lane center changes to cushion against sudden lateral movements. When lane markers become undetectable, the filter pre-mitigates potential jumps by smoothing the transition, preventing harmful lateral movements before they fully manifest.
Solution Approach 2:
The path filter acts as an intermediary between lane center detection and vehicle steering control. It mediates the relationship by processing the detected lane center information and smoothing transitions, thereby preventing direct transmission of sudden changes to the steering system.
2Reliability
If the system re-centers the vehicle when lane markers are lost, then the vehicle can return to its original lane position, but this causes sudden lateral lurches that are unpleasant for occupants
Solution Approach 1:
The path filter applies beforehand cushioning by smoothing the re-centering process. When lane markers are lost and the system determines to re-center the vehicle, the filter progressively adjusts the steering command rather than making abrupt corrections, thereby preventing occupant discomfort while still recovering lane position.
Solution Approach 2:
The system dynamically adjusts the re-centering behavior based on current driving conditions. The path filter modifies the re-centering rate and magnitude according to vehicle speed, road curvature, and other contextual factors, making the re-centering process adaptive and comfortable for occupants rather than rigid and abrupt.
3Measurement precision
If the system applies image processing techniques to detect lane markers, then lane center determination is achieved, but detection fails in low-light environments or when markers wear away
Solution Approach 1:
The system prepares for detection failures by having a path filter ready to smooth transitions when markers become undetectable. This beforehand cushioning ensures that even when image processing fails due to low-light or worn markers, the vehicle response remains smooth and controlled rather than erratic.
Data Source
AI summary
A vehicle computer includes a memory and a processor programmed to execute instructions stored in the memory. The instructions include determining a first lane center, autonomously operating a host vehicle relative to the first lane center, detecting a change in the first lane center to a second lane center, selecting a filter, and applying the filter while transitioning autonomous operation of the host vehicle from the first lane center to the second lane center.