Vehicle Path Generation With Curvature-Based Lane Offset
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Solution Overview
Problem
Existing path generation systems for vehicles with automatic driving functions struggle to generate a natural target travel path when driving on curved roads, as they typically keep the vehicle centered in the lane without accounting for the driver's offset behavior.
Innovation Solution
A path generation apparatus and method that utilize an external sensor and an electronic control unit to recognize the travel lane, calculate the curvature radius, determine an offset amount based on the curvature, and derive a second function representing the target travel path offset inward in the turning direction.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the target travel path is generated along the center of the travel lane, then the path generation is simple and straightforward, but the driving behavior becomes unnatural on curved roads and causes passenger discomfort
Solution Approach 1:
The patent changes the path generation parameter by introducing an offset amount that varies with curvature radius. Instead of maintaining a fixed center-lane path, the system dynamically adjusts the lateral offset parameter based on road geometry, allowing the vehicle to mimic skilled driver behavior on curves while maintaining simple path generation logic through parameterized control
2Measurement precision
If the vehicle travels exactly in the center of the travel lane, then the lane positioning is precise and easy to control, but it fails to replicate the offset behavior of skilled drivers on curved roads
Solution Approach 1:
The patent applies dynamics by making the lateral offset amount variable rather than fixed. The offset amount dynamically changes based on the curvature radius of the road, allowing the vehicle to adapt its positioning behavior to different road conditions. This dynamic adjustment enables the system to maintain precise lane positioning on straight roads while naturally offsetting on curved roads to match skilled driver behavior
Data Source
AI summary
Path generation apparatus configured to generate target travel path of vehicle, includes: external sensor mounted on vehicle and configured to detect external situation centered on advancing direction of vehicle; and electronic control unit including processor and memory coupled to processor. Electronic control unit is configured to perform: recognizing travel lane where vehicle travels based on external situation detected by external sensor; deriving first function representing travel path along center of travel lane; calculating curvature radius of travel lane; determining offset amount to be offset inward in turning direction from center of travel lane based on curvature radius; and deriving second function representing target travel path of vehicle that has been offset based on first function and offset amount.