Vehicle Lateral Control Using Predicted Offset Prioritization
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Solution Overview
Problem
Existing lane keeping assist systems (LKAS) for vehicles are inadequate in performing stable lane keeping control as they only consider the detected lane and not adjacent vehicles, leading to potential accidents and driver anxiety due to unstable steering, especially when multiple vehicles are present and vehicles approach from the rear at high speeds.
Innovation Solution
A lateral control apparatus and method that measures current and predicted lateral offsets of both preceding and following vehicles in adjacent lanes, determines priority based on offset differences, and generates a route for lane keeping control to minimize steering torque and anxiety, using front and rear camera sensors to calculate and adjust vehicle speed and steering accordingly.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If lane keeping control is performed only based on the detected lane, then the lane keeping control is simple to implement, but the driving stability deteriorates due to sense of difference in steering and vehicle leaning
Solution Approach 1:
The system performs preliminary action by predicting the lateral offset of adjacent vehicles before they become immediate hazards. The preview offset calculating unit calculates where adjacent vehicles will be in the future based on current lateral offsets and vehicle speeds, allowing the lane keeping control to anticipate and prepare for potential conflicts, thereby improving driving stability without excessive complexity
Solution Approach 2:
The system applies dynamics by making the lane keeping control adaptive rather than static. The controller dynamically adjusts the driving trace deflection based on real-time lateral offsets of adjacent vehicles and their predicted future positions. This dynamic adjustment allows the system to respond to changing traffic conditions, improving driving stability while maintaining reasonable system complexity
2Reliability
If the driving trace is set to be deflected toward the opposite direction of an adjacent vehicle, then the immediate collision risk is reduced, but the system cannot cope with vehicles approaching from the rear at high speeds
Solution Approach 1:
The system uses preliminary action by calculating preview offsets that predict where adjacent vehicles will be positioned in the future. This allows the lane keeping control to prepare appropriate deflection strategies in advance, enabling the system to handle vehicles from multiple directions including rear-approaching vehicles, thereby improving both collision avoidance capability and multi-directional adaptability
Solution Approach 2:
The system implements feedback by continuously monitoring lateral offsets of adjacent vehicles and using this information to dynamically adjust the driving trace deflection. The controller receives feedback on vehicle positions and speeds, processes this through the preview offset calculation, and adjusts the lane keeping control accordingly, enabling reliable collision avoidance for vehicles approaching from any direction
3Device complexity
If lateral offset of adjacent vehicle is measured without predicting proceeding trace, then the measurement is simple, but the lane keeping control cannot precisely perform when vehicle behavior changes
Solution Approach 1:
The preview offset calculating unit performs preliminary calculation by predicting future lateral offsets based on current vehicle positions and speeds. This preliminary action provides more accurate measurement data for lane keeping control decisions, improving measurement precision while adding only moderate complexity through mathematical prediction rather than complex sensing
4Measurement precision
If lane keeping control considers multiple vehicles with priority determination, then the control precision is improved, but the device complexity increases
Solution Approach 1:
The system applies preliminary action by calculating preview offsets for multiple adjacent vehicles before making control decisions. This allows the priority determining unit to assess which vehicle poses the greatest future risk based on predicted positions rather than just current positions, improving control precision while managing complexity through systematic prediction
Solution Approach 2:
The system uses feedback by continuously monitoring lateral offsets and speeds of multiple adjacent vehicles, processing this information through priority determination, and adjusting lane keeping control accordingly. This feedback loop enables precise multi-vehicle consideration while maintaining manageable complexity through iterative processing of sensor data
Data Source
AI summary
The present invention provides a lateral control apparatus including: an offset measuring unit that measures current lateral offsets of at least two other vehicles at a current time based on a center of a driving lane; a preview offset calculating unit that predicts a lateral offset of the other vehicle based on the center of the driving lane based on a location and a speed of the other vehicle at a time when a predetermined time has elapsed to calculate a preview offset; a priority determining unit that determines a priority of the other vehicles based on a difference between the lateral offset and the preview offset; and a controller that generates a route for lane keeping control of own vehicle based on the lateral offset of the other vehicle to which a top priority is assigned by the priority determining unit.