Vehicle Lane Control With Imaginary Boundaries for Obstacle Avoidance
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Solution Overview
Problem
Existing lane departure suppression systems frequently perform control when encountering objects in an imaginary lane, leading to user annoyance.
Innovation Solution
A vehicle control device that recognizes a lane and sets imaginary boundaries to maintain a safe clearance from objects, performing lane departure suppression control while avoiding these objects.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If lane departure suppression control is performed based on an imaginary lane when an object is present, then the vehicle can avoid the object, but the vehicle frequently approaches the lane boundary causing frequent control activation and user annoyance
Solution Approach 1:
The imaginary lane is segmented into a first imaginary lane (original boundary) and a second imaginary lane (shifted boundary) when an object is detected. The control system selectively switches between these segmented lanes based on object presence, allowing the vehicle to maintain appropriate clearance from objects while avoiding unnecessary control activation near the original lane boundary.
Solution Approach 2:
A determination unit acts as an intermediary between the control unit and the lane boundaries. It determines whether the vehicle is in a second imaginary lane by checking if the lateral position is within a specific range from the lane boundary, and switches the imaginary lane setting accordingly. This intermediary layer prevents direct conflict between object avoidance and lane boundary adherence.
Data Source
AI summary
A vehicle control device is configured to: recognize a lane between first and second boundaries based on detection values detecting an environment of surroundings of the vehicle, perform lane departure suppression control to run in the lane, set a first imaginary boundary at a position of a side surface of an object inside the lane if recognizing an object T present inside the lane at the first boundary, set a second imaginary boundary at which a start position of the lane departure suppression control is set at a position a predetermined distance away in an inside direction of the lane according to a first width of a distance between the first imaginary boundary and the second boundary, perform lane departure suppression control upon securing a clearance distance away from an object and run avoiding the object inside an imaginary lane M set between the first and second imaginary boundaries.