Road-Based Driving Coordinate System for Curved Lane Positioning
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Solution Overview
Problem
Existing vehicle coordinate systems struggle to accurately reflect the relative relationship between a vehicle and its surrounding environment, particularly on curved roads, leading to errors in determining lane positions and distances, which affects autonomous driving strategies.
Innovation Solution
A driving coordinate system is constructed by determining a road boundary line as a reference, calculating the minimum distance point as the origin, and establishing axes based on the road guiding line direction, allowing for more accurate representation of distances and positions using arc length in curved conditions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of manufacture
If a vehicle coordinate system is used to determine target information, then the system is simple to implement, but the accuracy of distance and position information deteriorates on curved roads
Solution Approach 1:
The patent transforms the coordinate system parameters from a fixed vehicle-based system to a dynamic road-based system. The driving coordinate system adapts its origin and axes based on road geometry (boundary lines and guiding lines), allowing the parameters to change with road conditions. This resolves the contradiction by maintaining implementation simplicity while improving measurement accuracy through parameter adaptation to curved roads.
Solution Approach 2:
The patent introduces a dynamic coordinate system that adjusts its reference frame based on real-time road conditions. Unlike the static vehicle coordinate system, the driving coordinate system's origin and axes are determined by road boundary lines and guiding lines, making it dynamic and adaptive. This allows accurate representation of target positions on both straight and curved roads without complicating the overall system implementation.
2Ease of operation
If a vehicle coordinate system is used, then the calculation process is straightforward, but the representation of relative relationship between vehicle and environment deteriorates
Solution Approach 1:
The patent introduces a driving coordinate system as an intermediary between the vehicle coordinate system and the road environment. This intermediate coordinate system, defined by road boundary lines and guiding lines, accurately represents the relative relationship between the vehicle and environment while maintaining calculation simplicity through systematic transformation methods.
3Device complexity
If straight-line distance is used in vehicle coordinate system, then the calculation is simple, but the distance representation becomes inaccurate on curved roads
Solution Approach 1:
The patent applies curvature principles by defining the driving coordinate system based on road geometry, including curved boundary lines and guiding lines. The coordinate system naturally follows the curvature of the road, allowing accurate distance representation on curved roads while maintaining calculation simplicity through consistent transformation rules.
Data Source
AI summary
A method and a system for constructing a driving coordinate system for use in the field of smart transport. The method for constructing a driving coordinate system comprises: determining the road boundary line on one side of the road on which a current vehicle is situated as a reference line for constructing a driving coordinate system; in a vehicle coordinate system, determining the reference line point having the smallest distance between the reference line and the current vehicle position as an origin point OF of the driving coordinate system; on the basis of the origin point OF, determining the road guiding line direction as the XF axis of the driving coordinate system and determining the direction relative to the road guiding line direction according to the left-hand rule as the YF axis of the driving coordinate system; and, on the basis of the origin point OF, the XF axis, and the YF axis, forming a corresponding driving coordinate system.