Vehicle Lateral Positioning Using Landmark-Verified Lane Recognition
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Solution Overview
Problem
Existing vehicular position specification technologies face challenges in accurately determining the lateral position of a vehicle due to potential errors in lane division line recognition, leading to erroneous specifications.
Innovation Solution
A vehicular position specification apparatus that estimates the lateral position by collating the relative position of lane division lines or road edges with map data, using a peripheral monitoring sensor's recognition results, and verifies the accuracy through landmark positions to prevent erroneous estimations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If lateral position is estimated by collating lane division line positions from map data with recognition results from peripheral monitoring sensors, then positioning accuracy is improved, but errors from incorrect lane division line recognition lead to erroneous position specifications
Solution Approach 1:
The patent introduces landmarks as intermediary reference objects to verify the accuracy of lane division line-based position estimation. By comparing the relative positions of recognized landmarks with their map data positions, the system mediates between the potentially erroneous lane division line recognition and the final position specification, filtering out errors through this intermediate verification step
Solution Approach 2:
The system implements a feedback mechanism where the recognized landmark positions are compared with map data to generate verification information about position estimation accuracy. This feedback loop allows the system to detect and correct errors in lane division line recognition by using landmark position discrepancies as error indicators, thereby improving the reliability of lateral position specification
Data Source
AI summary
A lateral position of a vehicle is estimated by collating a position of a lane division line in map data with a relative position of the lane division line with respect to the vehicle indicated by a recognition result by a peripheral monitoring sensor. The lateral position of the vehicle is precluded from being specified using the estimated lateral position of the vehicle in response to a lateral deviation between (i) a position of a landmark in the map data and (ii) a translated landmark position being equal to or greater than a first threshold value. The translated landmark position is a position on map deviated from the estimated lateral position of the vehicle assumed to be the lateral position of the vehicle on map by a relative position of the landmark with respect to the vehicle indicated by the recognition result by the peripheral monitoring sensor.