Vehicle Merging Controller Delaying Lane Change When Markings Unreadable
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Solution Overview
Problem
Existing vehicle traffic management technologies fail to ensure stable lane changing when detection of road environment features, such as marking lines, is insufficient.
Innovation Solution
A vehicle controller system that includes detectors for the host and other vehicles, a marking line recognizer, and a merging controller, which delays merging control when the marking line is not recognized, and uses a virtual frame to adjust merging maneuvers based on the transverse moving situation of other vehicles.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If merging control is performed based on detection of road environment features such as marking lines, then lane changing accuracy is improved, but reliability deteriorates when detection is insufficient
Solution Approach 1:
The system performs preliminary detection of marking lines before executing merging control. When marking lines are detected, the system uses them as reference for accurate lane changing. The control start timing is adjusted based on whether marking lines are recognized, ensuring reliable operation under varying detection conditions.
Solution Approach 2:
The system changes the control parameter (merging control start timing) based on the detection result of marking lines. When marking lines are recognized, merging control starts at a standard timing for accuracy. When marking lines are not recognized, the start timing is delayed to ensure safety and reliability.
2Productivity
If merging control start timing is advanced for accurate lane changing, then productivity is improved, but stability deteriorates when road environment detection is insufficient
Solution Approach 1:
The system dynamically adjusts the merging control start timing based on real-time detection results. When marking lines are detected, the system advances the start timing for efficient lane changing. When marking lines are not detected, the system delays the start timing to maintain stability, creating a dynamic adaptation to environmental conditions.
3Adaptability or versatility
If the virtual frame is offset from the other vehicle during lane changing, then adaptability is improved, but measurement precision deteriorates
Solution Approach 1:
The system applies preliminary offset to the virtual frame when detecting that the other vehicle is changing lanes. This offset compensates for the expected movement of the other vehicle, preventing measurement errors. The offset amount is determined based on the lane changing state, maintaining precision while adapting to dynamic situations.
Data Source
AI summary
A vehicle controller includes a first detector that detects a traveling state of a host vehicle, a second detector that detects a traveling state of an other vehicle that travels along a main lane when the host vehicle is traveling along a merging road, a marking line recognizer that recognizes a marking line of the main lane, and a merging controller that performs merging control of the host vehicle into the main lane based on a transverse moving situation of the other vehicle detected by the second detector, wherein, when a marking line of the main lane is unable to be recognized by the marking line recognizer, the merging controller delays starting of the merging control in comparison with a case in which the marking line of the main lane is able to be recognized by the marking line recognizer.