Vehicle Location Correction Using Lane Trajectory Comparison
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Solution Overview
Problem
Existing vehicle location correction apparatuses are unable to accurately determine which lane of a multi-lane road a vehicle is traveling on, leading to inadequate location correction accuracy, especially when the vehicle is automatically driven along a target trajectory.
Innovation Solution
A vehicle location correction apparatus that includes a satellite positioning unit, map information storage, and a locational trajectory generating unit, which determines the lane by geometrically comparing the vehicle's trajectory with map information to calculate a locational correction amount, allowing for precise lane identification and correction.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the apparatus estimates a road that geometrically matches the movement trajectory to calculate bias errors, then the vehicle location can be corrected onto the traveled road, but the apparatus is unable to determine which lane of the traveled road the vehicle is traveling in
Solution Approach 1:
The patent segments the road into multiple lanes and separately identifies the specific lane the vehicle is traveling in, rather than treating the road as a single entity. This is achieved by generating lane-specific trajectories and comparing them with the vehicle's actual trajectory to determine lane identification information, thereby resolving the contradiction between achieving location correction and preserving lane identification information.
Solution Approach 2:
The patent adds a lateral dimension to the trajectory analysis by generating not only the longitudinal path but also the lateral position within the road. This is done by creating multiple candidate trajectories representing different lanes and selecting the one that best matches the vehicle's actual position, thus recovering the lane identification information that would otherwise be lost.
2Measurement precision
If the apparatus corrects the location of the vehicle onto the traveled road, then the location accuracy is improved, but the vehicle cannot always be driven in an optimal one of the multiple lanes
Solution Approach 1:
The patent segments the road into multiple lanes with distinct trajectories, allowing the automatic driving system to select the optimal lane based on the identified lane information. By providing lane-level precision rather than just road-level correction, the system enables better lane selection for automatic driving operations.
Solution Approach 2:
The patent provides feedback to the automatic driving system by identifying which specific lane the vehicle is in and correcting the location to that lane. This feedback loop enables the automatic driving controller to make informed decisions about lane changes and path planning, improving the ease of operation for optimal lane selection.
Data Source
AI summary
In an apparatus for correcting a location of a vehicle, a satellite positioning unit mounted in the vehicle measures the location of the vehicle using navigation satellites. A locational trajectory generating unit generates a locational trajectory of the vehicle based on the location of the vehicle measured by the satellite positioning unit. A location correcting unit corrects the location of the vehicle based on the locational trajectory and map information stored in a map information storage. The location correcting unit, for each of the vehicle locations included in the locational trajectory, determines in which one of the lanes of the road the vehicle was traveling as the vehicle location was measured, and geometrically compares at least one traveled lane of the road acquired from the determination and the locational trajectory, and based on the comparison, calculates a locational correction amount of the location of the vehicle.