Vehicle Control Device for Automated Lane Merging
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Solution Overview
Problem
Existing vehicle control systems that use cameras to change imaging ranges or viewing angles to recognize surroundings are costly and complex, making them inefficient for accurate vehicle positioning and lane merging in automated driving.
Innovation Solution
A vehicle control device and method that uses a hardware processor to acquire self-position and orientation data from detection devices and map information, determining steering and speed control modes to enable automated driving by adjusting the steering angle control mode based on the vehicle's position and orientation, allowing for accurate recognition of surroundings and lane merging without complex camera configurations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If an imager with zoom function or variable imaging range is used to recognize surroundings, then the ability to photograph different ranges is improved, but the cost and structural complexity increase
Solution Approach 1:
The patent uses multiple fixed imagers (first imager, second imager, third imager) positioned at different locations to capture images of the same scene from different perspectives. Instead of using a single complex imager with variable focal length, the system creates multiple fixed imaging paths that collectively provide the functionality of a zoom-capable system, thereby reducing individual imager complexity while maintaining versatility
Solution Approach 2:
The patent combines multiple fixed imagers with different fields of view into a unified image recognition system. The first imager captures a first image, the second imager captures a second image, and the third imager captures a third image, all of which are processed together by the control unit to determine vehicle position and orientation. This merging of multiple simple imaging systems replaces a single complex variable-focal-length imager
2Measurement precision
If multiple imagers with different fields of view are used to improve position recognition accuracy, then the measurement precision is improved, but the device complexity increases
Solution Approach 1:
The patent introduces a vertical dimension to the imaging system by positioning the second imager above the first imager and the third imager below the first imager. This three-dimensional arrangement of imagers allows the system to capture images from multiple elevation angles, providing redundant information that enhances position recognition accuracy while maintaining a relatively simple overall structure
Solution Approach 2:
The patent divides the imaging function into multiple specialized segments: the first imager provides a primary view, the second imager provides an elevated perspective, and the third imager provides a lowered perspective. Each imager is optimized for its specific position and function, and the control unit integrates these segmented views to achieve high-precision position and orientation recognition
3Reliability
If the vehicle changes orientation to search for the end point of the merging section, then the target detection capability is improved, but the time required for recognition increases
Solution Approach 1:
The patent performs preliminary actions by capturing multiple images simultaneously from different positions (first image from the first imager, second image from the second imager, third image from the third imager) before the vehicle completes its orientation change. The control unit processes these pre-captured images to determine the vehicle's position and orientation, and to identify the end point of the merging section, thereby reducing the time required for recognition during actual maneuvering
Data Source
AI summary
A vehicle control device recognizes a second self-position, which is obtained by correcting a first self-position, and an orientation of a vehicle on a road, on which the vehicle is traveling, based on a situation around the vehicle, the first self-position, and map information, determines a steering control mode and a speed control mode of the vehicle based on the second self-position and the orientation of the vehicle, and performs automated driving by controlling the vehicle based on the determined control modes. When the vehicle is scheduled to advance from a first lane to a second lane and it is not possible to recognize a target associated with a road indicating an end point of a merging section, a determiner determines a steering angle control mode for searching for the target based on the second self-position and the orientation of the vehicle.