Lane Following Preview Distance Control for Smooth Lane Entry
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Solution Overview
Problem
Existing lane following assist systems do not effectively adjust the target look-ahead distance based on the vehicle's offset from the target route, leading to increased entrance angles and potential overshoot when entering the lane.
Innovation Solution
A lane following assist apparatus and method that dynamically adjusts the target look-ahead distance based on the vehicle's offset from the target route, using a camera to capture images, calculate the vehicle offset, and adjust the preview time to set a variable target look-ahead distance, ensuring a smooth entrance angle.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the target look-ahead distance is set based only on vehicle speed (existing LFA system), then the control system is simple, but the entrance angle increases and the vehicle cannot smoothly enter the target route
Solution Approach 1:
The patent applies dynamics by making the target look-ahead distance variable rather than fixed. The system dynamically adjusts the look-ahead distance based on real-time vehicle offset from the target route. When the vehicle is far from the target route, a longer look-ahead distance is used; when close, a shorter distance is used. This dynamic adjustment enables smooth lane entry while maintaining manageable system complexity through adaptive parameter changes.
Solution Approach 2:
The patent changes the parameter of target look-ahead distance based on the vehicle's offset degree from the target route. By introducing offset degree as a new parameter and adjusting the look-ahead distance accordingly, the system achieves smoother lane entry. This parameter change approach resolves the contradiction by making the control system responsive to vehicle position without requiring complete system redesign.
2Manufacturing precision
If a fixed look-ahead distance is used regardless of offset degree, then the calculation is simple, but overshoot occurs when entering the target route
Solution Approach 1:
The patent implements feedback by continuously monitoring the vehicle's offset degree from the target route and using this information to adjust the target look-ahead distance. The system calculates the offset, compares it with threshold values, and adjusts the look-ahead distance accordingly. This feedback mechanism prevents overshoot by adapting the look-ahead distance to the current vehicle position, achieving precise lane centering while keeping the control logic manageable through clear threshold-based decision rules.
3Ease of operation
If the target look-ahead distance is increased for vehicles far from the target route, then the entrance angle improves, but the preview time must be adjusted increasing system complexity
Solution Approach 1:
The patent changes the preview time parameter based on the vehicle offset from the target route. When the vehicle is far from the target route, the system increases the preview time to allow for a longer look-ahead distance; when close to the target route, it reduces the preview time. This parameter adjustment approach enables proper entrance angle control while managing system complexity through coordinated changes in look-ahead distance and preview time based on offset degree.
Data Source
AI summary
A lane following assist apparatus and a control method thereof are provided. The lane following assist apparatus includes a camera that captures an image in front of a vehicle and a processor that receives a forward image from the camera. The processor obtains line information from the forward image, calculates a vehicle offset based on the line information, variably sets a target look-ahead distance depending on whether the vehicle offset is greater than a threshold, and performs lane following assist control using the target look-ahead distance.