Vehicle Lane-Change Control Using Map and Partition Line Alignment
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Solution Overview
Problem
Automated driving technologies face challenges in accurately recognizing road partition lines, which can disrupt continuous driving operations due to variations in camera recognition accuracy, map information precision, and update timing.
Innovation Solution
A vehicle control system that integrates a first recognizer for real-time road partition line detection using a detection device and a second recognizer for map-based lane partition lines, with a driving controller that adjusts steering and speed based on the comparison and alignment of these lines, particularly in lane change scenarios.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If automated driving control is executed based on real-time partition line recognition, then driving control accuracy is improved, but recognition accuracy deteriorates due to camera errors and map information variations
Solution Approach 1:
The patent combines real-time partition line recognition results with map information to determine the host vehicle's travel path. By merging multiple information sources (camera detection, map data, and path estimation), the system compensates for the weaknesses of individual recognition methods and achieves more reliable driving control accuracy.
Solution Approach 2:
The patent introduces a travel path estimation mechanism that acts as an intermediary between raw partition line recognition and driving control. This intermediary process estimates the host vehicle's travel path by collating target position data with map information, thereby mediating the discrepancies between real-time recognition and map-based expectations.
2Stability of the object's composition
If automated driving continues based on map information, then driving stability is improved, but adaptability to actual road conditions deteriorates
Solution Approach 1:
The patent implements a dynamic switching mechanism that adjusts the weight given to map information versus real-time recognition based on the degree of mismatch. When partition lines match well, the system relies more on stable map information; when mismatches occur, it dynamically adapts by incorporating real-time camera recognition results, thus maintaining both stability and adaptability.
Solution Approach 2:
The patent changes the parameter of information source weighting based on recognition consistency. By monitoring the match degree between real-time partition lines and map partition lines, the system dynamically adjusts the reliance on each information source, transitioning between map-based stability and camera-based adaptability as conditions require.
3Speed
If driving control is executed based on real-time partition lines, then responsiveness to current road conditions is improved, but control reliability deteriorates when partition lines do not match
Solution Approach 1:
The patent implements a feedback mechanism that continuously monitors the match degree between real-time partition lines and map partition lines. This feedback loop allows the system to detect recognition discrepancies and adjust its control strategy accordingly, maintaining reliability by falling back on map information when real-time recognition is inconsistent.
Solution Approach 2:
The patent performs preliminary collation of target position data with map information before executing driving control. By pre-estimating the travel path and comparing it with map-based expectations, the system proactively identifies potential recognition errors and prepares appropriate corrective actions, ensuring control reliability before actual driving maneuvers are executed.
Data Source
AI summary
A vehicle control device according to an embodiment includes a first recognizer that recognizes a surrounding situation including a first partition line partitioning a traveling lane, a second recognizer that recognizes a second partition line partitioning a lane around from map information; and a driving controller that executes driving control, wherein the driving controller executes the driving control based on the first partition line in a case in which the first partition line does not match the second partition line, a preceding vehicle traveling in front of a vehicle is recognized, and an amount of change in a distance between the first partition line and a traveling trajectory of the preceding vehicle is smaller than a threshold value, when the vehicle travels in a lane change section, and curbs the driving control in a case in which the amount of change is equal to or larger than the threshold value.