Vehicle Travel Path Correction for Snowy Road Stability
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Solution Overview
Problem
Existing vehicle traveling control systems face challenges in maintaining stable automatic driving on snowy roads where lane markers are covered with snow, leading to potential vehicle deviation and interference with other vehicles.
Innovation Solution
A vehicle traveling control apparatus that includes a peripheral environment information acquirer, map information storage, and a target travel path correction unit, which estimates the vehicle's position and road surface conditions, determines lateral deviations, and adjusts the target travel path to avoid lane markers, ensuring stable travel without impeding other vehicles.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the target travel path is set based on high-precision road map information and own vehicle position, then automatic driving can be continued on snowy roads, but the own vehicle may deviate toward the center of the lane and impede peripheral vehicles that have deviated toward the road shoulder side
Solution Approach 1:
The system acquires lateral position information of peripheral vehicles and uses this feedback to detect whether they are deviating from the lane. Based on this feedback, the system determines a deviation amount and corrects the target travel path to prevent impeding peripheral vehicles, thus resolving the contradiction between maintaining automatic driving continuity and avoiding harmful interference with other vehicles
Solution Approach 2:
The system changes the parameter of the target travel path by applying a deviation amount calculated from peripheral vehicle positions. This parameter adjustment shifts the target travel path from the lane center toward the road shoulder side, allowing the own vehicle to follow peripheral vehicles and avoid impeding them while maintaining continuous automatic driving
2Measurement precision
If the own vehicle travels on the center of the lane based on road map information, then the target travel path can be accurately determined, but the own vehicle may not follow the actual traveling positions of peripheral vehicles on snowy roads
Solution Approach 1:
The system uses lateral position information of peripheral vehicles as feedback to adjust the target travel path. This feedback mechanism allows the system to adapt the theoretically accurate road map-based path to the actual road conditions where peripheral vehicles have deviated, thus resolving the contradiction between measurement precision and adaptability
Solution Approach 2:
The system modifies the target travel path parameters by applying a deviation amount based on peripheral vehicle positions. This parameter change enables the system to transition from the precise but rigid road map-based path to an adaptive path that follows actual road conditions and peripheral vehicle behavior
Data Source
AI summary
A vehicle traveling control apparatus is configured to: acquire peripheral environment information around a vehicle; store road map information; estimate a vehicle position; acquire information of a road surface on which the vehicle travels; set a target travel path of the vehicle during automatic driving, referring to the road map information, based on the estimated vehicle position and input destination information; estimate lateral position information of a peripheral vehicle when the road surface is snow-covered and lane markers cannot be recognized; determine whether the peripheral vehicle deviates relative to the traveling lane based on the estimated lateral position information; and, when the peripheral vehicle deviates, set a deviation amount to deviate the vehicle toward a lane marker on a road shoulder side, correct a lateral position of the set target travel path set with the deviation amount, and set a new target travel path.