Vehicle Target Track Correction for Preceding Vehicle Detection Errors
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Solution Overview
Problem
Existing automated driving technologies that rely on following a preceding vehicle are prone to errors in target track calculation due to detection errors in the relative position of the preceding vehicle, leading to increased steering frequencies and difficulty in achieving accurate and smooth control of the subject vehicle.
Innovation Solution
A target track generation apparatus that includes a preceding vehicle position acquisition unit, a subject vehicle state quantity acquisition unit, a subject vehicle movement amount calculator, a subject vehicle reference preceding vehicle position calculator, a target track generator, a target track correction determination unit, and a correction target track generator, which corrects the target track by lowering the degree of polynomial approximation when the preceding vehicle is traveling straight to reduce the influence of detection errors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If the target track is calculated based on the relative position of the preceding vehicle, then the subject vehicle can follow the preceding vehicle, but detection errors cause the target track to meander and increase steering frequency
Solution Approach 1:
The system performs preliminary actions by calculating a point group representing the history of relative positions before generating the target track. This historical data is used to predict and correct for detection errors before they significantly impact the target track accuracy, allowing the system to compensate for sensor noise in advance rather than reacting to it after it causes meandering.
Solution Approach 2:
The patent introduces an intermediary processing step between raw relative position detection and target track generation. The point group of historical relative positions acts as an intermediary that smooths out detection errors through temporal averaging, providing a more stable basis for target track calculation and reducing the direct impact of noisy sensor data on control accuracy.
2Measurement precision
If the target track is generated using detected relative position data, then the subject vehicle can track the preceding vehicle, but the number of steering operations increases due to detection errors
Solution Approach 1:
The system calculates the point group of historical relative positions in advance before generating the target track. This preliminary calculation of positional history allows the system to smooth out detection errors through temporal averaging, resulting in a more stable target track that reduces the frequency and magnitude of steering corrections needed.
Solution Approach 2:
The system uses the calculated point group of historical relative positions as feedback to refine the target track generation. By continuously incorporating historical position data into the target track calculation, the system creates a feedback mechanism that smooths out detection errors and reduces unnecessary steering operations while maintaining accurate following control.
Data Source
AI summary
In a target track generation apparatus, a subject vehicle reference preceding vehicle position calculator calculates a point group of subject vehicle reference preceding vehicle positions representing a history of a relative position of a preceding vehicle in a coordinate system using a current position of a subject vehicle as a reference. A target track generator generates a target track of the subject vehicle, based on the point group of the subject vehicle reference preceding vehicle positions. A correction target track generator generates a correction target track obtained by correcting the target track, based on the point group of the subject vehicle reference preceding vehicle positions or the target track, when it is determined that correction of the target track is necessary.