Lane Keeping Activation Thresholds for Measurement Error Compensation
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Solution Overview
Problem
Conventional lane keeping assistance systems face precision issues due to measurement errors in vehicle lateral deviation and relative heading angle, leading to untimely or excessive activation of trajectory correction, causing unnecessary lateral movements.
Innovation Solution
A method for controlling a driving assistance system that activates trajectory correction based on predetermined maximum error thresholds for lateral deviation and relative heading angle, using a table of authorized lateral displacement values calculated for various vehicle dynamics and lane geometry parameters, ensuring precise lane maintenance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If trajectory correction is activated based on standard measurement thresholds, then lane keeping assistance is provided, but measurement errors cause premature or delayed activation and excessive lateral movements
Solution Approach 1:
The system pre-calculates and stores a table of maximum permissible lateral displacement values for different vehicle dynamics conditions (speed, yaw rate, road curvature) before operation. This preliminary preparation allows the activation trigger to be configured based on predicted measurement errors under various conditions, enabling reliable activation decisions without real-time calculation delays or errors
Solution Approach 2:
The activation threshold is dynamically adjusted based on vehicle operating parameters (speed, yaw rate, road curvature) by selecting appropriate values from the pre-calculated table. This parameter adaptation allows the system to compensate for measurement errors that vary with operating conditions, maintaining reliable activation timing across different driving scenarios
2Measurement precision
If trajectory correction is activated frequently to compensate for measurement errors, then lane positioning accuracy improves, but unnecessary lateral movements increase
Solution Approach 1:
The system pre-determines maximum permissible lateral displacement values for different vehicle dynamics conditions and stores them in a lookup table. During operation, the system retrieves the appropriate threshold based on current conditions (speed, yaw rate, road curvature) rather than using fixed or overly conservative thresholds, enabling activation only when truly necessary
Solution Approach 2:
Instead of activating trajectory correction for every minor measurement deviation, the system uses a selective activation strategy based on pre-calculated thresholds. This partial action approach activates correction only when the deviation exceeds the dynamically determined threshold, avoiding unnecessary lateral movements while maintaining lane positioning accuracy
Data Source
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AI summary
The invention relates to a method for controlling a driver assistance system in a motor vehicle, comprising a function for correcting the direction of travel, said method involving a measurement step in which, from a vehicle-mounted camera, the lateral distance (YL) between the vehicle and a marking strip on a traffic lane as well as the relative heading angle (ΨL) corresponding to the angle between the longitudinal axis of the vehicle and a line on the traffic lane are measured, and an activation step in which the function for correcting the direction of travel is activated in accordance with the measured lateral distance and relative heading angle; the disclosed method is characterized in that it comprises a configuration step in which the triggering of the activation of the function for correcting the direction of travel is configured in accordance with at least one maximum error (e y max ) found during the measurement of the lateral distance and a maximum error (eΨ max) found during the measurement of the relative heading angle. Fig. 2 AA%%%Steering wheel angle BB%%%Yaw rate (r) CC%%%Speed DD%%%Estimator EE%%%Decision to have LKA intervene FF%%%Vehicle on the road GG%%%Configure errors ( eΨ max) and (e y max ) HH%%%Search table for dmax II%%%Driver JJ%%%Vehicle and road data Nothing else to translate