Vehicle Merge Position Selection for Two-Lane Merging
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Solution Overview
Problem
Existing technologies fail to appropriately indicate a merging position when there are two merging lanes, leading to inadequate merging position indication.
Innovation Solution
A mobile object control device that includes a hardware processor to acquire images of the outside space, determine the merging lane positions, set merging position candidates, and select a suitable merging position by excluding candidates in front of the traveling direction, considering the presence and trajectory of other vehicles.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a behavior prediction model is used to predict vehicle behaviors at merging, then merging position can be indicated, but the indication is inadequate when there are two merging lanes
Solution Approach 1:
The patent segments the merging lane detection into specific configurations: detecting whether the own vehicle is in a first merging lane or second merging lane when there are two merging lanes. This segmentation allows the system to handle different lane configurations specifically, improving adaptability while maintaining prediction accuracy for each segment.
Solution Approach 2:
The system dynamically adjusts its behavior based on the detected number of merging lanes. When two merging lanes are detected, the system executes specific processing for two-lane configurations; otherwise, it uses general merging lane processing. This dynamic adaptation resolves the contradiction between fixed prediction models and variable lane configurations.
2Ease of operation
If merging position candidates are selected without considering other vehicles, then selection is simple, but collision risk increases
Solution Approach 1:
The patent performs preliminary detection of other vehicles in merging lanes before selecting merging position candidates. By提前 (in advance) identifying the presence and position of other vehicles, the system can filter out unsafe merging positions before final selection, ensuring safety without significantly complicating the selection process.
Solution Approach 2:
The system introduces an intermediary checking step that evaluates merging position candidates against detected other vehicles. This intermediary layer filters candidates based on safety criteria, mediating between simple selection and safe selection by adding only the necessary validation step.
3Adaptability or versatility
If all merging position candidates are considered, then position selection flexibility is high, but processing complexity increases
Solution Approach 1:
The patent extracts and removes merging position candidates that are determined to be unsafe due to the presence of other vehicles. By taking out inappropriate candidates from the consideration set, the system maintains flexibility among valid candidates while reducing processing complexity by eliminating unnecessary evaluations of unsafe positions.
Data Source
AI summary
A mobile object control device acquires an image obtained by imaging an outside space of a mobile object, determines whether the mobile object is in a merging lane closer to a merged lane between two merging lanes, determines whether another mobile object is in a merging lane farther from the merged lane between the merging lanes in front of the mobile object when it is determined that the mobile object is in the closer merging lane, sets one or more merging position candidates at which merging of the mobile object to the merged lane is completed and which are positions between mobile objects in the merged lane, and selects a merging position at which the merging of the mobile object to the merged lane is completed from the one or more merging position candidates.