Lane Recognition Reliability Check for Vehicle Control
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Solution Overview
Problem
Existing vehicle control systems fail to accurately detect abnormal recognition of lane division lines due to erroneous recognition of three-dimensional objects as division lines, leading to potential vehicle departure from the road or collision with road objects.
Innovation Solution
A vehicle control apparatus that includes a microprocessor, memory, and an exterior environment detection unit to recognize lane division lines, determine the reliability of these recognitions based on the movement amounts of the vehicle and the detected division lines, and control actuators to ensure safe travel along recognized lanes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the system determines abnormality based on distance change to three-dimensional objects, then it can detect some recognition errors, but it fails to detect errors when three-dimensional objects are erroneously recognized as division lines
Solution Approach 1:
The patent introduces a third-party reference (the other division line) to verify the recognition result of the target division line. By checking whether the recognized division line maintains proper spatial relationships with adjacent division lines, the system can detect erroneous recognitions that distance-based methods miss. This intermediary reference acts as a mediator to validate the authenticity of the recognized division line.
Solution Approach 2:
The system uses feedback from the spatial relationship between multiple division lines to verify recognition accuracy. When a division line is recognized, its position is cross-checked against the positions of other division lines to ensure consistency with expected lane geometry. This feedback mechanism enables the system to detect and correct erroneous recognitions of three-dimensional objects as division lines.
2Speed
If the system relies on distance changes to detect abnormality, then it can identify rapid position changes, but it cannot distinguish between actual division line changes and erroneous recognition of three-dimensional objects
Solution Approach 1:
The patent applies dynamic verification by continuously monitoring the spatial relationships between multiple division lines over time. Instead of relying on static distance measurements, the system evaluates whether recognized division lines maintain consistent geometric relationships with adjacent lines during vehicle movement. This dynamic approach enables rapid detection of recognition errors while maintaining precision.
3Device complexity
If the system uses only distance-based abnormality detection, then the detection method is simple, but the detection accuracy is insufficient when three-dimensional objects are mistaken for division lines
Solution Approach 1:
The patent segments the abnormality detection process into multiple independent verification steps: (1) distance-based abnormality detection, (2) spatial relationship verification with adjacent division lines, and (3) consistency checking with lane geometry expectations. This segmentation allows the system to maintain relatively simple individual detection methods while achieving high overall reliability through combined verification.
Data Source
AI summary
A vehicle control apparatus includes a microprocessor and an exterior environment detection unit configured to detect an exterior environment situation in a predetermined region around the subject vehicle. The microprocessor is configured to perform: recognizing a division line defining a lane of a road on which the subject vehicle travels based on a detection value of the exterior environment detection unit; acquiring a movement amount of the subject vehicle in a vehicle width direction; and determining a reliability of a recognition result of the division line based on a first movement amount which is the acquired movement amount of the subject vehicle and a second movement amount, which is a change amount of a recognized position of the division line in the vehicle width direction, when a traveling position of the subject vehicle moves in the vehicle width direction.