Vehicle Lane-Changing Control Using Real-Time Lane Line Feedback
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Solution Overview
Problem
Current autonomous driving lane-changing methods rely on complex control algorithms and virtual trajectory planning, leading to inaccurate and inefficient lane-changing results due to dynamic road conditions and system overhead.
Innovation Solution
A vehicle lane-changing control method that adjusts control rules in real-time based on the location relation between the host vehicle and a referential lane line, using first and second control rules to ensure accurate lane-changing actions without pre-planning a virtual trajectory, and determines feasibility and necessity of lane-changing based on traveling environment information.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If virtual trajectory planning and complex control algorithms are used for lane-changing, then the lane-changing process can be automated, but the system complexity and overhead increase significantly
Solution Approach 1:
The patent extracts and removes the complex virtual trajectory planning module from the lane-changing control system. Instead of planning a complete virtual trajectory in advance, the system directly controls the vehicle to follow the actual lane line, eliminating unnecessary computational complexity while maintaining automation capability
Solution Approach 2:
The patent inverts the traditional control approach by switching from trajectory-based control to lane-line-based control. Rather than planning a virtual path and then tracking it, the system directly uses the detected lane line as the reference for control, simplifying the control algorithm structure
2Reliability
If virtual trajectory planning is used for lane-changing, then a complete control path can be established, but the accuracy of lane-changing results decreases due to dynamic road conditions
Solution Approach 1:
The patent implements dynamic adaptation by continuously detecting the actual lane line during the lane-changing process and adjusting the control target in real-time. The lane line detection module dynamically updates the reference path based on current road conditions, allowing the system to adapt to dynamic environmental changes and improve lane-changing accuracy
Solution Approach 2:
The patent introduces feedback mechanisms where the detected actual lane line is continuously compared with the vehicle's current position and orientation. This feedback loop enables real-time correction of control deviations, ensuring the vehicle accurately follows the actual lane line despite dynamic road conditions
Data Source
AI summary
Provided are a vehicle lane-changing control method and a vehicle lane-changing control device. The method includes controlling a host vehicle to travel into a neighboring to-be-turned-into lane with a first control rule, acquiring a location relation between the host vehicle and a referential lane line in a real time manner. The referential lane line is located between the host vehicle and the to-be-turned-into lane. The method further includes determining whether the location relation meets a preset changing rule, and controlling an action of the host vehicle with a second control rule corresponding to the preset changing rule in a case that the location relation meets the preset changing rule.