Vehicle Lane Decision Using Gradient-Corrected Road Markings
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Solution Overview
Problem
In driving assistance technology, determining the travel lane of a vehicle is challenging when there is a deviation between first road markings recognized by detection devices and second road markings acquired from map information, making it difficult to differentiate between road gradient deviations and lane decisions.
Innovation Solution
A vehicle control device that includes a first recognizer to identify road markings based on detection device outputs, a second recognizer to identify markings from map information, a corrector to adjust markings based on road gradient information, and a lane decider to determine the travel lane based on corrected markings, with driving control modes switching when deviations exceed a threshold.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If road gradient correction is applied to second markings, then lane decision accuracy is improved, but device complexity increases
Solution Approach 1:
The system performs preliminary correction of the second markings using road gradient information before comparing them with the first markings. This advance preparation eliminates the need for complex iterative adjustment mechanisms during the lane decision process, thereby improving accuracy while managing system complexity.
Solution Approach 2:
The patent introduces an intermediary correction process that acts as a mediator between the raw map markings and the final lane decision. By applying gradient-based correction as an intermediate step, the system simplifies the comparison task and improves decision accuracy without requiring fundamentally complex system architecture.
2Reliability
If deviation threshold switching is implemented, then driving safety is improved, but control system complexity increases
Solution Approach 1:
The system dynamically adjusts the deviation threshold based on road gradient conditions. When significant gradient is detected, a higher threshold is applied to prevent false lane changes, while on flat roads a lower threshold enables more responsive lane keeping. This dynamic adaptation improves safety across varying conditions without requiring entirely separate control systems.
Solution Approach 2:
The patent changes the deviation threshold parameter according to road gradient information. By modifying this key parameter based on external conditions (gradient), the system achieves adaptive safety control without adding complex structural elements, leveraging parameter adjustment rather than system multiplication.
3Measurement precision
If gradient-based correction is always applied, then measurement accuracy is improved, but processing time increases
Solution Approach 1:
The system applies gradient-based correction selectively rather than universally. Correction is applied only when road gradient information indicates significant slope conditions that would affect marking accuracy. This partial application approach maintains high accuracy when needed while avoiding unnecessary processing time on flat roads where correction would have minimal effect.
Solution Approach 2:
The patent replaces a continuous correction mechanism with a conditional correction approach based on gradient thresholds. Instead of applying correction uniformly (mechanical approach), the system uses gradient information to intelligently determine when correction is necessary, substituting computational logic for blanket mechanical processing and thereby reducing overall processing time.
Data Source
AI summary
According to an embodiment, a vehicle control device includes a first recognizer configured to recognize a first marking for defining a travel lane of a vehicle on the basis of an output of a detection device that has detected a surrounding situation of the vehicle, a second recognizer configured to recognize a second marking for defining the travel lane on the basis of position information and map information of the vehicle, a corrector configured to correct the second marking on the basis of road gradient information of a travel direction of the vehicle, and a lane decider configured to decide on a travel lane of the vehicle on the basis of a comparison result between the first marking and the second marking corrected by the corrector.