Vehicle Steering Control via Lane Recognition Distortion Variance
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Solution Overview
Problem
Current Level 2 autonomous driving systems experience steering miscontrol due to lane recognition distortions at intersections and hill climbs, leading to driver anxiety and potential accidents, as they fail to adaptively adjust steering control based on lane information accuracy.
Innovation Solution
An apparatus and method that utilize an image sensor and processor to recognize the front driving lane, calculate error variance, determine distortion degree, and adjust steering control accordingly, incorporating a lane misrecognition determiner, error variance calculator, and vehicle controller to ensure stable steering.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If lane recognition is performed using image sensor and processor, then lane information can be obtained for steering control, but lane recognition distortion occurs at intersections and hill climbs causing steering miscontrol
Solution Approach 1:
The system performs preliminary detection of distortion conditions by analyzing lane recognition results before executing steering control. The distortion detector identifies when lane recognition is likely to be distorted (at intersections, hill climbs) and adjusts steering control accordingly, preventing steering miscontrol before it occurs.
Solution Approach 2:
The steering control system dynamically adjusts its behavior based on the detected distortion degree. When distortion is detected, the system changes from using recognized lane information to using other reference information (such as map data or previous lane information), making the control adaptable to different driving conditions rather than rigidly following distorted lane recognition.
2Extent of automation
If steering control is based on recognized lane information, then autonomous driving function is achieved, but driver anxiety and accidents occur due to steering miscontrol from lane distortion
Solution Approach 1:
The system implements feedback by continuously monitoring the quality of lane recognition and adjusting steering control based on this feedback. The distortion detector provides feedback about recognition quality, and the controller uses this feedback to determine whether to trust the recognized lane information or switch to alternative reference information, reducing harmful effects of miscontrol.
Solution Approach 2:
The system prepares compensatory measures in advance by detecting distortion conditions before they cause harmful effects. When distortion is detected, the system switches to alternative reference information or adjusts control parameters to cushion against potential steering miscontrol, preventing driver anxiety and accidents before they occur.
3Adaptability or versatility
If error variance calculation is performed to determine distortion degree, then steering control can be adaptively adjusted, but system complexity increases
Solution Approach 1:
The system uses parameter changes (error variance calculation) to determine distortion degree and adaptively adjust steering control. By calculating the variance of lane position estimates, the system can quantify recognition quality and adjust control parameters accordingly, achieving adaptability through mathematical parameter analysis rather than complex hardware modifications.
Data Source
AI summary
Disclosed are an apparatus and a method for controlling a vehicle by determining a distortion in lane recognition, which calculate an error variance of the recognized lane, determine a distortion degree of the recognized lane using the error variance, and control the steering of the vehicle using the determined distortion degree.