Lane-Keeping Control Using GPS-RTK Positioning in Poor Visibility
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Solution Overview
Problem
Conventional lane-keeping devices struggle to accurately identify lane lines in adverse weather conditions such as rain or snow, leading to potential lane departure and safety hazards.
Innovation Solution
An apparatus and method for lane-keeping control that utilizes a GPS receiver, a communication module for receiving RTK information, and a processor to calculate precise positioning location information. This information is used to obtain lane link data from a map database, allowing the system to determine the driving lane even when lines are not visible, by calculating orthogonal distances and applying weights based on RTK status flags.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If conventional lane-keeping devices use image information from front-facing cameras to identify lane lines, then the system can determine driving lane under normal conditions, but the lines become invisible in adverse weather conditions such as rain or snow, making it impossible to accurately identify the lines and determine lane position
Solution Approach 1:
The patent introduces GPS/RTK positioning information as an intermediary to bridge the gap when visual lane line detection fails. Instead of relying solely on camera images, the system uses precise positioning coordinates to determine vehicle location relative to pre-stored map lane information, thereby maintaining lane identification capability in adverse weather conditions
Solution Approach 2:
The patent replaces the optical detection mechanism (camera-based line recognition) with a positioning-based mechanism (GPS/RTK coordinate matching). This substitution allows the system to determine lane position through mathematical coordinate comparison rather than visual pattern recognition, making it immune to weather-related visibility issues
2Reliability
If the system switches to GPS and RTK positioning information to determine driving lane in adverse weather, then lane identification is maintained, but the device complexity increases due to additional positioning modules and processing requirements
Solution Approach 1:
The patent makes the positioning system multi-functional by using GPS/RTK coordinates for both precise positioning and lane identification purposes. The same positioning data serves dual functions: determining vehicle location and determining lane position through comparison with map data, thereby reducing the need for separate dedicated components
Solution Approach 2:
The patent merges the positioning function and lane identification function into a unified processing framework. By combining camera data, GPS data, RTK data, and map information into a single integrated system that selectively uses appropriate data sources based on environmental conditions, the overall system complexity is managed despite adding positioning capabilities
3Measurement precision
If the system uses both camera-based line detection and positioning-based lane determination, then lane identification accuracy is improved across different conditions, but the processing time and computational load increase
Solution Approach 1:
The patent implements a dynamic data selection mechanism that adapts the processing approach based on environmental conditions. When weather is favorable, the system uses the faster camera-based detection; when weather deteriorates, it switches to the positioning-based method. This dynamic adaptation optimizes processing time by avoiding unnecessary computational overhead
Solution Approach 2:
The patent performs preliminary actions by pre-storing map lane information and pre-calculating expected position ranges. This allows the real-time positioning data to be quickly compared against pre-prepared reference data, significantly reducing processing time during actual lane determination without sacrificing accuracy
Data Source
AI summary
Provided are an apparatus and a method for lane-keeping control for a vehicle. The apparatus for lane-keeping control for a vehicle includes: a GPS receiver configured to receive GPS information from a GPS satellite; a communication module configured to receive real-time kinematic positioning (RTK) information from an RTK system; and a processor configured to: correct a location of a vehicle by using the GPS information and the RTK information to calculate precise positioning location information; obtain lane link information corresponding to the precise positioning location information; and determine a driving lane of the vehicle based on the precise positioning location information and the lane link information.