Lateral Assist Path Control for Work-Zone Lane Tolerance
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Solution Overview
Problem
Existing vehicle motion control systems struggle to adjust lane centerlines and lane departure thresholds effectively in the presence of road features such as work zones, which can obstruct the path and require dynamic adjustments to ensure safe vehicle navigation.
Innovation Solution
The system receives work-zone data, including location and geometry, to determine a vehicle route by selecting appropriate lane segments and adjusting the lane departure tolerance based on the work-zone data. This involves virtually dividing lanes into segments, assigning scores, and determining the optimal path to maintain safe vehicle movement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the lane departure threshold is adjusted to account for work zones, then vehicle safety is improved, but the complexity of the control system increases
Solution Approach 1:
The system divides the road into multiple lane segments, with each segment having its own lane departure threshold based on local conditions. This allows the system to adjust thresholds dynamically for work zones without complicating the entire control system, as each segment can be independently configured with appropriate safety margins.
Solution Approach 2:
The system pre-calculates and stores lane departure thresholds for different lane segments before the vehicle reaches them. Work zone data is processed in advance to determine appropriate thresholds, so when the vehicle enters a work zone, the adjusted threshold is already ready and simply applied, avoiding real-time computational complexity.
2Measurement precision
If the lane centerline is adjusted to account for road features, then navigation accuracy is improved, but the computational requirements increase
Solution Approach 1:
Lane centerlines are pre-calculated for each lane segment based on work zone geometry and location data. The system stores these pre-computed centerlines and simply retrieves them when the vehicle approaches each segment, rather than performing complex real-time calculations, thus maintaining high navigation accuracy while minimizing computational energy usage.
Solution Approach 2:
The road is divided into discrete lane segments, each with its own pre-calculated centerline. This segmentation allows the system to process and store centerline data in manageable portions rather than attempting to calculate and store entire route centerlines, reducing overall computational requirements while maintaining precision where needed.
3Reliability
If multiple lane segments are evaluated to find the optimal path, then route safety is improved, but the processing time increases
Solution Approach 1:
The system pre-evaluates multiple lane segments and assigns scores to each based on safety criteria before the vehicle needs to make routing decisions. Work zone data is processed in advance to identify safe passages, and the optimal path is pre-determined by comparing pre-calculated scores, allowing the vehicle to follow the safe route without real-time evaluation delays.
Solution Approach 2:
Instead of evaluating all possible paths across the entire route, the system focuses computational resources on evaluating only the lane segments locally affected by work zones. Each segment is scored based on its specific characteristics (width, presence of workers, adjacent lane availability), allowing rapid local optimization without the need for comprehensive global path analysis.
Data Source
AI summary
A method for lateral assist includes receiving work-zone data. The work-zone data includes information about a location of a work zone and a geometry of the work zone. The method further includes determining a route of a vehicle using the work-zone data. Determining the route path of the vehicle includes selecting a lane segment using the work-zone data. The lane segment is adjacent to the work zone. Determining the route path further includes determining a lane departure tolerance for the lane segment previously selected using the work-zone data. The method further includes commanding the vehicle to move within the lane departure tolerance along the lane segment previously selected.