Multi-Sensor Vehicle Steering for Stable Lane Centering
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Solution Overview
Problem
Existing vehicle control technologies are susceptible to weather and complex lane conditions, leading to instability and increased accident risk.
Innovation Solution
A device and method utilizing LiDAR, camera, and wheel speed sensor to obtain target and compensator angles, enabling stable lane centering through a processor that integrates point cloud data, RGB images, and vehicle speed for precise steering commands.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If existing vehicle control technologies are used, then the system is simple, but the vehicle control is poor and easily affected by weather and complex lane conditions
Solution Approach 1:
The patent combines LiDAR, camera, and wheel speed sensor into an integrated steering control system. The processor fuses data from all three sensors to generate steering commands, creating a unified control system that leverages the strengths of each sensor type while maintaining reliable vehicle control in various conditions.
Solution Approach 2:
The integrated sensor system serves multiple functions: LiDAR provides spatial mapping and distance measurement, camera captures visual lane information, and wheel speed sensor monitors vehicle motion. This multi-functional system handles diverse driving conditions including weather variations and complex lane configurations through a single unified control architecture.
2Measurement precision
If multiple sensors are integrated for accurate lane keeping, then the steering precision is improved, but the device complexity increases
Solution Approach 1:
The patent merges LiDAR point cloud data, camera RGB images, and wheel speed sensor data into a unified processing framework. The processor integrates these multiple data streams to calculate both target angle and compensator angle, achieving high measurement precision for lane position detection while managing complexity through unified data fusion.
Solution Approach 2:
The processor acts as an intermediary that receives raw data from multiple sensors and transforms it into meaningful steering commands. It processes LiDAR point clouds to identify lane geometry, analyzes camera images for visual lane markers, and combines these with wheel speed data to generate accurate target and compensator angles, thereby managing the complexity of multi-sensor integration.
3Measurement precision
If LiDAR and camera data are processed together, then the lane detection accuracy is improved, but the processing time increases
Solution Approach 1:
The system performs preliminary processing of LiDAR point cloud data to extract local path waypoints and processes camera images to identify central lane distance errors before combining them with wheel speed data. This preliminary action allows the processor to prepare processed data in advance, reducing the overall processing time when generating steering commands.
Solution Approach 2:
The patent divides the processing into separate segments: LiDAR data processing to obtain local path waypoints, camera image processing to obtain central lane distance errors, and wheel speed sensor data processing. Each sensor type is processed independently through its own pipeline, then the results are combined to calculate target and compensator angles, improving processing efficiency through parallel segmentation.
Data Source
AI summary
A device and a method for steering a vehicle are provided. The method includes following steps: obtaining a point cloud data of a vehicle through a lidar, obtaining an RGB image of the vehicle through a camera, and obtaining a current speed of the vehicle through a wheel speed sensor; using the current speed and local path way points associated with the point cloud data to obtain a target angle; using the current speed and a central lane distance error associated with the RGB image to obtain a compensator angle; and using the target angle and the compensator angle to obtain a steering command, and steering the vehicle to drive in a lane according to the steering command.