Automatic Steering Control Using Shape Data for Single Lane Line Detection
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Solution Overview
Problem
Existing automatic steering control systems cannot maintain lane keep control when only one lane line is detectable, as they fail to identify the lane shape and initiate control in such situations.
Innovation Solution
The system incorporates a lane line detector, shape data detector, and traveling processor to execute both-side-lane-line control when both lines are detected and one-side-lane-line control when only one line is detected, using shape data to determine the reliability of the detected lane line and adjust the steering accordingly.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the system requires both right and left lane lines to be detected for lane keep control, then the control reliability is improved, but the adaptability to partial lane line detection deteriorates
Solution Approach 1:
The system dynamically adapts its control strategy based on detection conditions. When both lane lines are detected, it executes first lane-line control using both lines for high reliability. When only one lane line is detected, it switches to second lane-line control using the single detected line combined with shape data, maintaining adaptability across different detection scenarios.
Solution Approach 2:
The system changes the control parameters based on detection results. By comparing the detected single lane line with pre-stored shape data representing the expected lane geometry, the system adjusts the target position calculation to account for the missing lane line, thereby maintaining control reliability even with partial detection.
2Adaptability or versatility
If the system executes lane keep control based on only one detected lane line, then the adaptability to partial detection is improved, but the measurement precision of lane shape deteriorates
Solution Approach 1:
Shape data serves as an intermediary element that bridges the gap between partial detection and complete lane shape understanding. The pre-stored shape data representing expected lane geometry acts as a reference model, allowing the system to infer the position and shape of the undetected lane line by comparing the single detected line with the stored shape characteristics.
Solution Approach 2:
The system performs preliminary action by pre-storing shape data that characterizes the expected geometry of lanes. This advance preparation of reference information enables the system to quickly and accurately reconstruct the complete lane shape even when only one lane line is detected during operation, maintaining measurement precision without requiring both lines to be simultaneously visible.
Data Source
AI summary
An automatic steering control apparatus includes a lane line detector, a shape data detector, a traveling processor, and a steering angle processor. The lane line detector is configured to detect right and left lane lines. The shape data detector is configured to detect shape data. The traveling processor is configured to, in a case where both the lane lines are detected, execute a first lane-line control that is an automatic steering control to be executed on the basis of both the lane lines, and configured to, in a case where only one of the lane lines is detected as a detected lane line, execute a determining process that compares data on the detected lane line and the shape data and that determines whether to execute a second lane-line control that is the automatic steering control to be executed on the basis of only the one of the lane lines.