Lane-Keeping Steering Limits for Partial Lane Marker Loss
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Solution Overview
Problem
Existing vehicle traveling support systems experience unstable vehicle behavior due to significant changes in steering angle when one of the left or right white lines becomes unrecognizable, leading to a degradation in traveling stability.
Innovation Solution
A vehicle traveling support apparatus that includes lane marker recognition, control means for lane keeping, and estimating lane width, employing limiting processes for steering angle and speed to stabilize vehicle behavior during transitions in lane marker recognition states.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the system uses extrapolated lane width to determine target traveling line when one white line is unrecognized, then the system can maintain lane keeping functionality, but the target traveling line position changes greatly when recognition state switches, causing unstable vehicle behavior
Solution Approach 1:
The system performs preliminary actions by continuously monitoring recognition states and preparing transition strategies before switching between different white line recognition conditions. When transitioning from one-white-line to zero-white-line recognition state, the system has already prepared the road width extrapolation method, ensuring smooth continuity without abrupt target line position changes.
Solution Approach 2:
The system introduces an intermediary approach by using road width information (from map data or previously recognized states) as a mediator during transition periods. This intermediary data source allows the system to maintain target traveling line calculation continuity when direct white line recognition is unavailable, preventing abrupt position changes.
2Adaptability or versatility
If the system switches target traveling line calculation method when recognition state changes, then it adapts to different recognition conditions, but the steering angle changes greatly, degrading vehicle stability
Solution Approach 1:
The system dynamically adjusts the target traveling line calculation method based on real-time recognition states. When transitioning from one-white-line to zero-white-line recognition, the system dynamically switches to road width-based extrapolation, ensuring continuous adaptability while maintaining vehicle stability through smooth transitions between different calculation approaches.
Solution Approach 2:
The system changes parameters (target traveling line position, steering angle) in a controlled manner during recognition state transitions. By using road width information as a reference, the system modifies these parameters gradually rather than abruptly, preventing instability while maintaining adaptability to different recognition conditions.
3Device complexity
If the system uses recognized white line position to set target traveling line, then the control is simple and direct, but when recognition is partial the target position becomes inaccurate, requiring extrapolation that increases complexity
Solution Approach 1:
The system creates a copy of the target traveling line position information from previously recognized states or map data. When one white line is unrecognized, the system copies the road width information and uses it to extrapolate the missing white line position, maintaining measurement precision without significantly increasing control complexity.
Solution Approach 2:
The system performs preliminary actions by pre-storing road width information from map data or previous recognition states. When white line recognition is partial, this pre-prepared information is immediately available for extrapolation, maintaining target position accuracy without adding complex real-time calculation requirements.
Data Source
AI summary
A driving support ECU is configured to, when a 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.