Lane-Keeping Steering Guard Control for One-Side Marker Loss
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Solution Overview
Problem
The existing vehicle traveling support apparatus experiences instability when one of the lane markers becomes unrecognizable, leading to abrupt changes in the steering angle and reduced traveling stability due to significant changes in the target traveling line position.
Innovation Solution
The apparatus employs lane marker recognition, estimating lane width, and control mechanisms to limit steering angle and speed, adjusting guard values based on recognition states to minimize abrupt changes in steering when one lane marker is unrecognizable, using first, second, and third limiting processes depending on the recognition state and duration.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the target traveling line is set based on one recognized white line and extrapolated lane width when one lane marker is unrecognizable, then the lane keeping control can continue, but the position of the target traveling line may change greatly causing unstable vehicle behavior
Solution Approach 1:
The system performs preliminary actions by continuously monitoring recognition states and preparing alternative target traveling line calculations. When one lane marker becomes unrecognizable, the system has already prepared extrapolated lane width values and alternative calculation methods to smoothly transition without causing abrupt steering changes, thus maintaining both control continuity and traveling stability.
2Measurement precision
If the steering angle is allowed to change freely to follow the target traveling line, then the vehicle can accurately track the lane center, but the vehicle behavior becomes unstable when the target traveling line position changes significantly
Solution Approach 1:
The system dynamically adjusts the steering angle based on the current recognition state and vehicle conditions. When the target traveling line position changes due to one lane marker being unrecognizable, the steering angle is adjusted within controlled limits rather than freely, allowing the vehicle to gradually adapt to the new target position while maintaining stable behavior. This dynamic control ensures both accurate lane tracking and stable vehicle response.
Data Source
AI summary
A driving support ECU is configured to, when s specific recognition state occurs where a lane marker recognized changes from a left lane marker to a right lane marker or vice versa under a one side lane marker recognizable state, set a steering angle guard value to a second steering angle guard value smaller than a first steering angle guard value and set a steering angle speed guard value to a second steering angle speed guard value smaller than a first steering angle speed guard value.