Vehicle Line Map Matching With Misrecognized Lane Filtering
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Solution Overview
Problem
Existing vehicle control systems face challenges in maintaining robust line map matching performance due to misrecognized lines, which can lead to unstable vehicle operation during driving assistance or autonomous driving modes.
Innovation Solution
A vehicle control apparatus and method that filters line segments using attributes such as angle, distance, and type, and compares them with map information to exclude misrecognized lines, ensuring accurate lane width and direction matching.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If line segments are recognized from camera images without filtering, then the quantity of line data is increased, but misrecognized lines cause instability in vehicle operation
Solution Approach 1:
The system performs preliminary filtering of line segments before using them for vehicle control. The processor filters line segments based on attributes (type, angle, distance) and compares them with map information in advance, removing misrecognized lines before they can cause instability in vehicle operation.
Solution Approach 2:
Map information serves as an intermediary to verify the authenticity of recognized line segments. The processor compares camera-recognized line segments with pre-stored map information, using the map as a reference to filter out misrecognized lines while keeping genuine ones.
2Measurement precision
If filtering is applied to line segments based on multiple attributes, then the accuracy of line matching is improved, but the processing time is increased
Solution Approach 1:
The filtering process is segmented into multiple independent criteria: type filtering (comparing line types), angle filtering (comparing orientations), and distance filtering (comparing positions). Each criterion can be applied separately and efficiently, improving overall processing speed while maintaining high accuracy.
3Reliability
If all recognized line segments are used for map matching, then the completeness of data is maintained, but misrecognized lines degrade matching performance
Solution Approach 1:
Map information acts as an intermediary validation layer. The processor compares each recognized line segment against the map database, using the map as a trusted reference to identify and filter out misrecognized lines while preserving genuine line data for accurate matching.
Data Source
AI summary
The present disclosure relates to a vehicle control apparatus and a method thereof. The vehicle control apparatus may include a camera, a memory configured to store map information, and a processor. The processor may obtain, via the camera, an image of an external environment of a vehicle, determine one or more line segments associated with a traffic line in the image, and filter at least one of the one or more line segments or the map information. Filtering may be based on at least one of an attribute, an angle, or a distance of each of the one or more line segments. The processor may further compare the map information with candidate line segments, wherein the candidate line segments exclude filtered line segments from the one or more line segments, and control, based on the comparison, an operation of the vehicle.