Vehicle Position Estimation Using Dynamic Lane Line Selection
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Solution Overview
Problem
Estimation errors in the vertical position of a vehicle can lead to a decrease in the precision of horizontal position estimation, as incorrect dividing lines on the map are used for comparison, affecting the accuracy of the vehicle's driving route determination.
Innovation Solution
A vehicle position estimation device that estimates the vertical position of a vehicle using a processor, detects actual dividing lines, and calculates the relative positional relationship between the actual and map dividing lines, determining the appropriate dividing line for comparison based on the amount of change in the horizontal position along the driving route, and corrects the vertical position if necessary.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If the vehicle uses a dividing line on the map at the estimated vertical position for comparison with actual dividing lines, then the horizontal position estimation process is simplified, but estimation errors in vertical position cause a drop in horizontal position estimation precision
Solution Approach 1:
The patent makes the selection of dividing lines dynamic by evaluating multiple candidate dividing lines at different vertical positions and selecting the one with the smallest horizontal position change amount. This dynamic selection process adapts to vertical position estimation errors, maintaining high horizontal position estimation precision even when the initial vertical position estimate is inaccurate.
Solution Approach 2:
The patent changes the selection criterion from a fixed vertical position to a variable selection based on horizontal position change amounts. By calculating and comparing the horizontal position changes for multiple dividing lines and selecting the one with the minimum change, the system compensates for vertical position estimation errors and maintains accurate horizontal position estimation.
2Measurement precision
If the vehicle calculates the amount of change in horizontal position for multiple dividing lines to determine the appropriate dividing line for comparison, then the horizontal position estimation precision is maintained, but the computational complexity and processing time increase
Solution Approach 1:
The patent performs calculations for a limited number of candidate dividing lines (typically a small range around the estimated vertical position) rather than all possible dividing lines. This partial action approach maintains high precision by evaluating sufficient candidates while avoiding excessive computational complexity through reasonable limiting of the search scope.
3Ease of operation
If the vehicle uses dividing lines from map information that may not match the actual vehicle position due to vertical position estimation errors, then the position estimation system remains simple, but the accuracy of driving route determination deteriorates
Solution Approach 1:
The patent implements a feedback mechanism where the horizontal position changes are calculated and compared for multiple dividing lines, and the dividing line producing the minimum change is selected. This feedback-based selection ensures that the most accurate dividing line is chosen, maintaining high reliability in driving route determination while keeping the overall system relatively simple through automated selection.
Data Source
AI summary
The vehicle position estimation device includes a processor configured to estimate a vertical position of a vehicle based on an output of a vehicle state detection device, detect actual dividing lines at both left and right sides of the vehicle, compare a dividing line on a map at the vertical position of the vehicle and an actual dividing line and estimate a horizontal position of the vehicle, and determine a driving route of the vehicle. The processor is configured to calculate an amount of change of a horizontal position with respect to the driving route based on a map information for each of dividing lines of both left and right sides of the driving route in a predetermined range, and determine a dividing line on the map for comparison based on the amounts of change.