Lane Deviation Warning Threshold Filtering
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Solution Overview
Problem
Conventional lane deviation prevention systems frequently activate unnecessary warnings due to errors in yaw angle determination, leading to excessive deviation warnings even when the vehicle is running close to the center of the lane.
Innovation Solution
The system includes course prediction, driving lane recognition, deviation estimation, yaw angle detection, and lateral position detection, with threshold settings for yaw angle and lateral position to prevent unnecessary warnings by only activating deviation estimation when significant lane deflection or proximity to lane boundaries occurs.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If deviation evaluation is performed continuously using yaw angle, then lane deviation can be detected, but unnecessary warnings occur frequently due to yaw angle errors
Solution Approach 1:
The patent introduces a threshold parameter for yaw angle magnitude to filter out evaluations based on erroneous small-angle measurements. By changing the evaluation condition from continuous monitoring to threshold-based monitoring, the system distinguishes between meaningful lane deviation signals and measurement errors, thereby reducing false warnings while maintaining detection capability.
Solution Approach 2:
The system incorporates feedback by continuously monitoring yaw angle magnitude and using it to control whether deviation evaluation should proceed. When the yaw angle falls below the threshold, the evaluation is prohibited, creating a feedback loop that prevents false warnings while allowing legitimate deviation detection when the angle exceeds the threshold.
2Ease of operation
If camera is mounted in specific angular relation, then yaw angle can be determined, but mounting variations cause yaw angle errors
Solution Approach 1:
The patent changes the evaluation parameter from absolute yaw angle value to yaw angle magnitude threshold comparison. This approach accommodates mounting variations by accepting a range of small angles as normal operating conditions rather than errors, thereby maintaining measurement simplicity while improving accuracy through threshold-based filtering.
3Reliability
If deviation warning is activated based on yaw angle threshold, then lane deviation can be warned, but warnings occur even when vehicle is near lane center
Solution Approach 1:
The patent changes the activation condition from any non-zero yaw angle to yaw angle magnitude exceeding a predetermined threshold. This parameter change ensures that warnings are only activated when the vehicle is genuinely at risk of lane deviation, not when minor positioning variations occur near the lane center, thereby improving both accuracy and efficiency.
Data Source
AI summary
An apparatus for warning deviation from a lane has a deviation evaluation ECU 1. The deviation evaluation ECU 1 has a deviation evaluator 14 for performing an evaluation on a deviation by comparing a future position of a host vehicle with a lane future position. Before this deviation evaluation, a mask processor 13 determines whether a yaw angle of the host vehicle and a lateral position of the vehicle relative to a driving lane exceed their respective thresholds preliminarily determined. When either one or the both are not more than the thresholds, the mask processor 13 performs a mask process, without performing the deviation evaluation. A deviation evaluator 14 performs the deviation evaluation when the yaw angle and the lateral position relative to the driving lane both exceed their respective thresholds.