Vehicle Lane Control Using Map-Camera Line Deviation
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Solution Overview
Problem
Existing automatic driving technologies struggle to maintain accurate traveling control by combining multiple road determinations, particularly when discrepancies arise between camera and map road dividing lines, leading to potential errors in vehicle navigation.
Innovation Solution
A vehicle control system that recognizes road dividing lines and other vehicles, determines deviations between these lines and map information, and adjusts traveling control based on the proximity to the vehicle's movement trajectory or minimal lane width changes, ensuring accurate navigation even with discrepancies.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the traveling control uses the map road dividing line, then the control is stable and consistent, but accuracy deteriorates when the map road dividing line deviates from the actual road
Solution Approach 1:
The system continuously monitors the position of the camera road dividing line and compares it with the map road dividing line. When a deviation is detected, the system provides feedback by switching to use the camera road dividing line for traveling control, ensuring accuracy. This feedback mechanism allows the system to adapt to actual road conditions while maintaining stability when the map data is accurate.
Solution Approach 2:
The system dynamically switches between using the map road dividing line and the camera road dividing line based on real-time deviation detection. This dynamic adaptation allows the system to maintain stability when map data is reliable while achieving high accuracy when deviations occur, resolving the contradiction between stability and precision.
2Measurement precision
If the traveling control switches to camera road dividing line when deviation is detected, then accuracy improves, but reliability deteriorates due to potential recognition errors
Solution Approach 1:
The system uses the deviation between camera and map road dividing lines as an intermediary indicator to determine reliability. When the deviation exceeds a threshold, it triggers a switch to camera-based control. This intermediary mechanism provides a balanced approach, switching to camera data only when necessary, thus improving accuracy while maintaining overall reliability through conditional switching.
3Measurement precision
If the system compares camera road dividing line with map road dividing line, then accuracy improves, but device complexity increases
Solution Approach 1:
The system extracts only the essential comparison between camera road dividing line position and map road dividing line position. By focusing on this specific deviation detection rather than comprehensive analysis of all road features, the system achieves high accuracy while minimizing the added complexity of the comparison mechanism.
Data Source
AI summary
Disclosed is a vehicle control device including: a storage medium storing computer-readable instructions; and a processor connected to the storage medium, the processor executing the computer-readable instructions, wherein, in a case in which it is determined that there is a deviation between the recognized road dividing line and the map road dividing line, when the other vehicle is recognized, the processor performs the traveling control on the basis of the road dividing line that is closer to a movement trajectory of the other vehicle between the recognized road dividing line and the map road dividing line, whereas when no other vehicle is recognized, the processor performs the traveling control on the basis of the road dividing lines with a smaller change in the lane width between the recognized road dividing lines and the map road dividing lines.