Lane-Keeping Steering Control With Fixed Lateral Offset
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Solution Overview
Problem
Existing vehicle control systems fail to maintain consistent alignment with the lane center line, causing vehicles to wobble and discomfort for drivers due to varying offset amounts from the lane center line based on the presence of targets in adjacent lanes.
Innovation Solution
A vehicle control device that recognizes the surrounding situation and sets a target traveling line offset by a predetermined amount from the lane center line, ensuring consistent vehicle alignment and preventing wobbling, even when adjacent lanes are present.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the target traveling line is adjusted based on the presence of targets in adjacent lanes, then the vehicle can avoid obstacles and improve safety, but the vehicle position varies relative to the lane center line causing wobbling and driver discomfort
Solution Approach 1:
The patent applies local quality by differentiating the target traveling line offset based on the vehicle's position within the lane. When a target is detected in an adjacent lane, the system selectively offsets the target traveling line only in the lateral direction while maintaining longitudinal alignment with the lane center line. This localized adjustment ensures obstacle avoidance while minimizing positional variation that causes wobbling, thereby resolving the contradiction between safety and driver comfort.
2Reliability
If the target traveling line offset varies with target presence, then obstacle avoidance is improved, but the vehicle alignment consistency deteriorates
Solution Approach 1:
The patent implements dynamics by making the target traveling line offset adjustable and adaptive rather than fixed. The control device dynamically adjusts the lateral offset of the target traveling line based on real-time detection of targets in adjacent lanes, while maintaining consistent longitudinal positioning. This dynamic adjustment enables the system to optimize both obstacle avoidance capability and alignment consistency according to actual driving conditions.
3Adaptability or versatility
If the vehicle follows a target traveling line with varying offset, then the vehicle can respond to surrounding targets, but the vehicle position stability relative to lane center line decreases
Solution Approach 1:
The patent applies segmentation by separating the target traveling line into distinct lateral and longitudinal components. The control device independently adjusts the lateral offset based on target detection while maintaining longitudinal alignment with the lane center line. This segmentation allows the vehicle to adaptively respond to surrounding targets laterally while preserving position stability longitudinally, thereby resolving the contradiction between adaptability and position stability.
Data Source
AI summary
A vehicle control device for controlling a vehicle includes circuitry configured to: recognize a surrounding situation of the vehicle including a first lane, in which the vehicle travels, and a road having the first lane; and set a target traveling line of the vehicle in the first lane based on the recognized surrounding situation, and control steering of the vehicle such that the vehicle travels along the target traveling line. When the road has a second lane adjacent to the first lane, the circuitry is configured to set, as the target traveling line, a line offset to a left side or a right side by a predetermined offset amount from a lane center line of the first lane.