Lane Deviation Determination Using Vehicle Trajectories and Map Lines
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Solution Overview
Problem
Conventional automated driving technology faces delays in determining the correctness of camera demarcation lines due to discrepancies with map demarcation lines, especially when the driving trajectory of adjacent vehicles is delayed, leading to potential inaccuracies in lane recognition at a distance.
Innovation Solution
A determination device and method that utilizes a first recognizer to identify surrounding demarcation lines and neighboring vehicles, a second recognizer to interpret map information, and a determiner to assess deviations between these lines, adjusting the determination process based on the presence or absence of neighboring vehicles and their trajectories.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Length of stationary object
If the driving trajectory of an adjacent vehicle is used for determination, then the determination can be performed at a longer distance, but the timing of determination is delayed because the adjacent vehicle's trajectory change is delayed
Solution Approach 1:
The system dynamically switches between using the subject vehicle's own trajectory and neighboring vehicle trajectories based on recognition conditions. When neighboring vehicles are recognized, their trajectories are used for determination; when not recognized, the subject vehicle's trajectory is used. This dynamic adaptation resolves the contradiction by selecting the most appropriate reference trajectory for each situation.
Solution Approach 2:
The system introduces an intermediary selection mechanism that chooses between different reference trajectories (subject vehicle's own trajectory vs. neighboring vehicle trajectories) based on recognition conditions. This intermediary layer allows the system to leverage neighboring vehicle trajectories for extended distance determination while avoiding the delay issue by switching to the subject vehicle's trajectory when neighboring vehicles are not recognized or when their trajectory changes are delayed.
2Length of stationary object
If camera demarcation lines are used for determination, then the determination can be performed at a longer distance, but camera demarcation lines cannot be recognized at a long distance
Solution Approach 1:
The system uses neighboring vehicle trajectories as an intermediary reference when camera demarcation lines cannot be recognized at long distances. By comparing map demarcation lines with the trajectories of neighboring vehicles instead of relying solely on camera-recognized demarcation lines, the system extends its determination capability to longer distances while maintaining accuracy.
Solution Approach 2:
The system creates a virtual representation of demarcation lines by inferring them from neighboring vehicle trajectories. When direct camera recognition of demarcation lines is not possible at long distances, the system copies the positional and directional information from neighboring vehicle trajectories to establish the demarcation line configuration, enabling determination beyond the camera's direct recognition range.
3Loss of time
If the driving trajectory of a preceding vehicle is used, then the determination timing is earlier, but the trajectory may not represent the current lane configuration accurately
Solution Approach 1:
The system dynamically selects between using the subject vehicle's own trajectory (for timely determination) and neighboring vehicle trajectories (for accurate lane configuration representation) based on recognition conditions. This dynamic selection ensures both timely determination and accurate lane configuration assessment.
Solution Approach 2:
The system uses feedback from the recognition of neighboring vehicles to determine which trajectory reference to use. When neighboring vehicles are recognized, their trajectories provide feedback on the current lane configuration, allowing the system to accurately represent the current lane state while maintaining appropriate determination timing.
Data Source
AI summary
A determination device of an embodiment includes a first recognizer configured to recognize a surrounding situation including first demarcation lines that demarcate a traveling lane of a subject vehicle and neighboring vehicles present around the subject vehicle based on an output of a detection device, a second recognizer configured to recognize second demarcation lines that demarcate lanes around the subject vehicle from map information based on position information of the subject vehicle, and a determiner configured to determine whether or not there is a deviation between the first demarcation lines and the second demarcation lines, wherein the determiner varies the manner of determining whether or not there is a deviation between the first demarcation lines and the second demarcation lines between a case in which the neighboring vehicles have been recognized by the first recognizer and a case in which the neighboring vehicles have not been recognized.