Traveling Lane Estimation Using Front Vehicle Trajectory
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Solution Overview
Problem
Existing lane estimation technologies face challenges in accurately determining the traveling lane of a subject vehicle, especially in sections where white line types are unclear or changing, such as at branch portions, leading to difficulties in recognizing the current right or left white line type based on past data.
Innovation Solution
A traveling lane estimation apparatus and method that utilize a periphery monitoring sensor to recognize a front vehicle, estimate its trajectory, acquire map data with lane number information, and identify the subject vehicle's position to determine the appropriate lane by using lane number information and lateral positional relationships, thereby avoiding inappropriate trajectories.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If white line type information is used to estimate the subject vehicle traveling lane, then lane estimation can be performed using visible road markings, but estimation accuracy decreases in sections where white line types are unclear or changing such as at branch portions
Solution Approach 1:
The patent introduces a front vehicle traveling trajectory as an intermediary element to bridge the gap when white line markings are unclear. By using the trajectory of a front vehicle (detected via periphery monitoring sensor) as a reference, the system can estimate the subject vehicle's lane even when white line types are not clearly recognizable, thus maintaining adaptability while preserving estimation accuracy
Solution Approach 2:
The patent segments the lane estimation process into two independent sources: white line type information and front vehicle trajectory information. This segmentation allows the system to selectively use the appropriate source depending on conditions - white lines when clear, front vehicle trajectory when white lines are unclear, thereby resolving the contradiction between relying on markings and adapting to unclear sections
2Measurement precision
If the subject vehicle traveling lane is estimated based on front vehicle position and trajectory, then accurate lane estimation can be achieved even when white line types are unclear, but the system complexity increases due to additional sensing and processing requirements
Solution Approach 1:
The periphery monitoring sensor serves multiple functions: it detects front vehicles for trajectory estimation, monitors the traveling environment, and provides positional information. By making this sensor multi-functional, the patent avoids adding dedicated complex hardware solely for lane estimation, thus improving accuracy while minimizing the increase in system complexity
3Reliability
If past white line type information is used to estimate current lane when white lines are not clear, then lane estimation can continue without interruption, but accuracy decreases due to reliance on historical data that may not reflect current conditions
Solution Approach 1:
The system performs preliminary detection and tracking of front vehicle trajectories continuously before they are needed for lane estimation. This preliminary action ensures that when white lines become unclear, the trajectory information is already available and up-to-date, allowing immediate switching to this alternative source without interruption to lane estimation continuity while maintaining accuracy
Data Source
AI summary
By a traveling lane estimation apparatus, a traveling lane estimation method, a control program, a computer-readable non-temporary storage medium, a front vehicle is recognized based on a sensing result by a periphery monitoring sensor, a front vehicle traveling trajectory is estimated based on a front vehicle position, map data including lane number information is acquired; a subject vehicle position on a map is identified, an inappropriate traveling trajectory for estimating the subject vehicle traveling lane is determined; and the subject vehicle traveling lane is estimated.