Vehicle Steering Control on Sloped Roads
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Solution Overview
Problem
Existing vehicle control systems face challenges in accurately estimating lane curvature on roads with slopes, leading to unnecessary steering adjustments due to distortion differences between left and right markings in captured images.
Innovation Solution
A vehicle control apparatus with a marking detection unit, curvature estimation unit, control unit, change determination unit, and slope determination unit that restricts steering control based on detected changes in vehicle direction and road slope, preventing unnecessary steering by adjusting the steering change rate and target steering amount.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If the vehicle control system performs steering control based on curvature estimation from road markings, then the vehicle can automatically follow the lane, but on sloped roads the marking distortion causes unnecessary steering adjustments
Solution Approach 1:
The system performs preliminary detection of road slope changes and vehicle direction changes before executing steering control. By detecting these conditions in advance, the system can determine when curvature estimation should be restricted, preventing unnecessary steering adjustments caused by marking distortion on sloped roads
Solution Approach 2:
The system continuously monitors road slope changes and vehicle direction changes, using this feedback to dynamically adjust the steering control strategy. When slope changes and direction changes are detected, the system restricts steering control based on curvature estimation, thereby improving reliability while maintaining automation
2Measurement precision
If the system uses both left and right markings for curvature estimation, then the lane curvature can be calculated, but on sloped roads the distortion difference between markings causes estimation errors
Solution Approach 1:
The system performs preliminary detection of road slope changes before using markings for curvature estimation. By detecting slope changes in advance, the system can identify when marking distortion will occur and restrict curvature estimation accordingly, preventing estimation errors while maintaining measurement precision under normal conditions
Solution Approach 2:
The system introduces road slope detection and vehicle direction detection as intermediary checks between marking detection and curvature estimation. These intermediaries detect the presence of distortion-causing conditions and mediate by restricting curvature estimation when necessary, thereby protecting against information loss due to marking distortion
Data Source
AI summary
A vehicle control apparatus estimates a curvature of the own lane ahead of the own vehicle based on both left and right markings in a captured image and performs a steering control of the own vehicle based on the estimated curvature of the own lane. The control unit determines the direction of the own vehicle and determines whether a change in the road slope is present. When the vehicle control apparatus determines that the direction of the own vehicle changes and the road slope ahead of the own vehicle changes, the vehicle control apparatus applies a restriction to the steering control performed based on the curvature of the own lane.