Vehicle Path Control Using Map-Line Reliability and Lead Trajectory
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Solution Overview
Problem
Existing vehicle control systems inaccurately determine travel paths due to deviations between camera and map road division lines, leading to erroneous path selection.
Innovation Solution
A vehicle control device that prioritizes either the camera or map road division line based on deviations between their travel trajectories and reliability assessments, generating a travelable region to ensure accurate path selection.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the system uses both camera road division line and map road division line to determine travel path, then the system has multiple data sources for path selection, but the system cannot appropriately select the travel path when deviation occurs between the two lines
Solution Approach 1:
The patent introduces another vehicle's travel trajectory as an intermediary reference to mediate between the camera road division line and map road division line. By calculating deviations from this independent third-party trajectory, the system can objectively determine which road division line is more accurate without being biased by either source alone.
Solution Approach 2:
The system implements feedback by continuously monitoring the deviation between another vehicle's actual travel trajectory and both the camera and map road division lines. Based on this feedback, the system dynamically adjusts which road division line to prioritize, switching between camera-based and map-based path selection depending on which shows smaller deviation.
2Adaptability or versatility
If the system prioritizes camera road division line when deviation occurs, then the system can adapt to actual road conditions, but the system may select erroneous path when camera road division line is incorrect
Solution Approach 1:
Another vehicle's travel trajectory serves as an intermediary validation source. By comparing deviations from this independent reference, the system can verify whether the camera road division line accurately reflects actual road conditions or if it contains errors, thus avoiding erroneous path selection.
3Reliability
If the system uses deviation calculation from another vehicle's trajectory to prioritize road division lines, then the system can accurately select travel path, but the system requires additional vehicle detection and trajectory analysis
Solution Approach 1:
The system leverages another vehicle's own travel trajectory data, which that vehicle generates through its normal operation. By utilizing this self-generated data from surrounding vehicles, the system obtains validation information without requiring additional external infrastructure or complex processing systems.
Data Source
AI summary
Provided is a vehicle control device configured to: acquire a camera image obtained by photographing a surrounding situation of a vehicle; generate a travelable region, which is a region in which the vehicle is capable of traveling, based on at least one of a camera road division line representing a road division line shown in the camera image and a map road division line representing a road division line stored in map information; detect a travel trajectory of another vehicle traveling ahead of the vehicle with respect to a travel direction of the vehicle; and control traveling of the vehicle such that the vehicle travels in the travelable region.