Merge Assistance Geometry for Accurate Merge Start Estimation
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Solution Overview
Problem
Existing autonomous merging control systems face inaccuracies in estimating the merging-possible area start point due to discrepancies between map-provided merge start points and actual hatched-marking area boundaries, leading to insufficient estimation accuracy.
Innovation Solution
A merge assistance device and method that utilize map information to set provisional merge points, calculate lane-to-lane distances, and derive approximation expressions to accurately estimate the merging-possible area start point by setting attention points on the own lane and approximating coordinates on the target lane, incorporating own-lane and target-lane widths.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If map information is used to determine merge start points, then the system can provide merge assistance functionality, but the estimation accuracy of the merging-possible area start point is insufficient due to discrepancies between map-provided points and actual road markings
Solution Approach 1:
The patent segments the lane geometry into multiple discrete points along the lane path. By dividing the continuous lane into segmented points and calculating lane-to-lane distances at each segment, the system achieves more precise localization of the merging-possible area start point compared to using a single map-provided merge point.
Solution Approach 2:
The patent transitions from using only longitudinal position information (1D) from map data to incorporating transverse distance information (2D) by calculating lane-to-lane distances. This dimensional expansion allows the system to identify the merging-possible area start point by finding where the transverse distance between lanes becomes sufficiently small, rather than relying solely on longitudinal map coordinates.
2Measurement precision
If image processing is used to estimate the merging-possible area start point through overhead image conversion, then visual information can be utilized, but error occurs due to conversion processing reducing estimation accuracy
Solution Approach 1:
The patent replaces the mechanical/image processing conversion system with a geometric calculation system. Instead of capturing images, converting them to overhead views, and processing visual data, the system directly calculates lane-to-lane distances using coordinate geometry and mathematical formulas, eliminating conversion errors entirely.
Solution Approach 2:
The patent creates a mathematical copy of the road geometry using coordinate data from map information. By representing lanes as mathematical curves defined by coordinate sequences and calculating distances between these mathematical representations, the system achieves accurate estimation without needing physical or visual copies of the road through imaging.
Data Source
AI summary
A merge assistance device of the present disclosure includes: an own-vehicle position acquisition unit for acquiring an own-vehicle position; a provisional merge point setting unit for setting a provisional merge point on an own lane; a lane-to-lane distance calculation unit for calculating a lane-to-lane distance from the own lane to the target lane; an attention point setting unit for setting a frontward attention point and a rearward attention point on the own lane; a first approximation expression deriving unit for deriving a first approximation expression approximating frontward attention points and rearward attention points; a second approximation expression deriving unit for deriving a second approximation expression approximating the target lane; and a merging-possible area start point estimation unit for estimating a merging-possible area start point on the target lane on the basis of an own-lane width, a target-lane width, and the first and second approximation expressions.