Lane Line Matching Control for Accurate Positioning After Lane Changes
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Solution Overview
Problem
Conventional vehicle positioning systems fail to accurately estimate the self-position of a vehicle when it changes lanes due to difficulties in matching road division lines recognized by a camera with map information.
Innovation Solution
A vehicle control system that recognizes road division lines using a camera and matches this information with map data, excluding a predetermined distance in the front-back direction after a lane change to ensure accurate positioning.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If road division line information is continuously matched with map information during lane changes, then positioning accuracy deteriorates due to mismatches, but if matching is completely stopped during lane changes, then positioning continuity is lost
Solution Approach 1:
The patent segments the road division line information into multiple sections along the vehicle's travel direction. During lane changes, the system identifies and excludes only the specific section where mismatches occur (the section containing the old lane's road division line), while continuing to match other sections (such as the new lane's road division line) with map information. This segmentation allows the system to maintain positioning continuity through partial matching while avoiding accuracy deterioration from mismatched segments.
2Measurement precision
If the matching range is reduced to avoid mismatched sections during lane changes, then positioning accuracy in the affected section improves, but the overall positioning reliability decreases
Solution Approach 1:
The patent applies local quality by treating different sections of the road division line differently during lane changes. The section identified as containing mismatched information (the excluded section) is handled with lower quality requirements (no matching), while other sections are handled with high quality requirements (normal matching). This allows the system to maintain high positioning accuracy in matched sections while ensuring overall positioning reliability through the combination of matched and unmatched sections.
Data Source
AI summary
Provided is a vehicle control device configured to: recognize a road division line existing in front of a vehicle based on an image captured by a camera; match road division line information obtained based on the recognition result with map information describing a distribution of the road division line to identify a position of the vehicle; perform travel control for the vehicle based on the matching result, in which when the vehicle has finished changing lanes from a travel lane in which the vehicle is currently traveling to an adjacent lane, the processor does not match the road division line information with the map information in a section by a predetermined distance with respect to a front-back direction of the vehicle, and matches the road division line information with the map information in such a range outside the section as to include a front-back side of the section.