Remote Vehicle Travel Control Using Stop Line Position Correction
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Solution Overview
Problem
Existing server apparatuses for remote travel control of vehicles face challenges due to inaccurate vehicle positioning, which can lead to potential interference with other vehicles, especially at intersections, when using non-advanced GNSS receivers or sensors that may introduce positional errors of several meters to tens of meters.
Innovation Solution
The server apparatus includes a remote processor that generates travel control data by accurately mapping the vehicle's position to high-precision maps, correcting positional errors, and executing a stop line process to ensure safe vehicle stopping at a position where the stop line is visible, thereby enhancing the accuracy of remote travel control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If non-advanced GNSS receivers or sensors are used for vehicle positioning, then device complexity is reduced, but measurement precision deteriorates with positional errors of several meters to tens of meters
Solution Approach 1:
The patent introduces an intermediary correction mechanism using stop line detection as a reference point. The system detects the stop line position via camera, calculates the distance between the vehicle and stop line, and uses this information to correct the GNSS position data. This intermediary correction process resolves the contradiction by maintaining simple GNSS hardware while achieving high positioning accuracy through computational correction.
Solution Approach 2:
The system implements feedback by continuously monitoring the distance between the vehicle and the stop line, comparing it with the expected distance from corrected position data, and adjusting the position correction accordingly. This feedback loop enables the system to maintain accurate positioning despite using non-advanced GNSS receivers, thereby resolving the contradiction between device simplicity and measurement precision.
2Measurement precision
If position correction based on stop line detection is implemented, then measurement precision is improved, but device complexity increases due to additional processing requirements
Solution Approach 1:
The server apparatus performs multiple functions using the same infrastructure: it generates travel control data for remote driving control, processes stop line detection images, calculates position corrections, and transmits corrected position data. By making the server multi-functional, the system achieves high positioning precision without increasing vehicle-side device complexity, as all additional processing is centralized on the server.
Solution Approach 2:
The system creates a corrected copy of the original GNSS position data by calculating the offset between the detected stop line position and the expected stop line position from uncorrected GNSS data. This corrected position copy is then used for accurate travel control, achieving high precision without requiring complex hardware modifications on the vehicle.
3Reliability
If accurate position correction is applied, then reliability is improved for safe navigation, but loss of time increases due to additional correction processing
Solution Approach 1:
The system performs preliminary action by pre-calculating position correction data during the image processing stage, before the vehicle reaches the stop line. The server detects the stop line, calculates the correction offset, and prepares the corrected position data in advance, so that when the vehicle needs accurate positioning for safe navigation, the correction is already available, minimizing time loss.
Data Source
AI summary
A server apparatus includes a communicator and a remote processor. The communicator receives position data of a vehicle traveling on a road. The remote processor generates travel control data, based on the received position data and transmits the travel control data. The remote processor executes a stop line process and a correction data generation process. The stop line process generates travel control data that is adapted to stop the vehicle at a position where a stop line on the road is capturable by a vehicle-mounted camera after the vehicle is stopped. The correction data generation process generates, based on a captured position of the stop line in the image captured by the vehicle-mounted camera after the vehicle is stopped, correction data that is adapted to correct a vehicle position. The remote processor corrects the vehicle position data received by the communicator and generates the travel control data for the vehicle.