Autonomous Lane Change Control Using Camera and Map Lane Width
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Solution Overview
Problem
False recognition of lane markings by a camera during autonomous driving can hinder appropriate lane change control, leading to unintended vehicle behavior.
Innovation Solution
A vehicle control system that utilizes a combination of camera-based lane marking recognition and high-definition map data to switch between image-based and map-based lane width information during lane changes, ensuring accurate lane positioning and control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If autonomous driving functions are added to vehicles, then convenience and safety are improved, but system complexity and cost increase
Solution Approach 1:
The autonomous driving control system is divided into multiple independent control modules, each responsible for specific driving tasks. This modular architecture allows the system to perform complex autonomous driving functions while maintaining manageable complexity through clear separation of responsibilities between modules.
Solution Approach 2:
The control device is designed to perform multiple functions including lane keeping, obstacle avoidance, adaptive cruise control, and other autonomous driving tasks within a single integrated system. This multi-functionality reduces overall system complexity compared to having separate dedicated systems for each function.
2Reliability
If autonomous driving control is implemented, then safety is improved, but device complexity increases
Solution Approach 1:
The control device continuously receives feedback from sensors about the vehicle's environment and state, processes this information, and adjusts control commands accordingly. This closed-loop feedback mechanism ensures safe autonomous driving by constantly monitoring and responding to changing conditions while maintaining systematic control.
Solution Approach 2:
The control device performs preliminary processing of sensor data and pre-calculates control commands before they are needed for actual execution. This advance preparation ensures timely and accurate responses to safety-critical situations while organizing complex processing tasks in a structured manner.
3Adaptability or versatility
If multiple control modules are used for autonomous driving, then functionality is improved, but communication interference increases
Solution Approach 1:
A communication management module acts as an intermediary between multiple control modules, coordinating their interactions and managing data exchange. This mediator prevents communication interference by orchestrating message passing and resource allocation among modules, enabling versatile functionality without signal conflicts.
4Ease of operation
If autonomous driving features are added, then user convenience is improved, but development time and cost increase
Solution Approach 1:
The system is segmented into independent, reusable control modules that can be developed, tested, and validated separately. This modular approach reduces overall development time by allowing parallel development of different modules and enabling incremental integration rather than requiring complete system redesign.
Data Source
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AI summary
A controller (16) executes processing including: before a lane change of an own vehicle (1) to an adjacent lane by autonomous driving is started, acquiring lane marking information in front of the own vehicle and first lane width information, the first lane width information being information about lane width, from a camera (11) and controlling a yaw angle of the own vehicle, based on the lane marking information and the first lane width information in such a way that the own vehicle travels within an own vehicle lane; when the lane change is started, acquiring second lane width information, the second lane width information being information about lane width, from map information (13) and controlling the yaw angle, based on the second lane width information in such a way that the own vehicle performs the lane change; and after the lane change is completed, controlling the yaw angle, based on the lane marking information and the first lane width information in such a way that the own vehicle travels within an own vehicle lane after lane change.