Vehicle Trajectory Control With Virtual Lane Boundaries at Branches
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Solution Overview
Problem
Existing vehicle control systems struggle to generate appropriate target trajectories and perform effective driving control in branch sections where main and branch lanes are connected, as demarcation lines may not be present, leading to potential interference and inadequate lane changes.
Innovation Solution
A vehicle control system that includes a recognizer to identify surroundings and generate target trajectories, setting virtual demarcation lines when actual lines are absent, and a driving controller to minimize interference during lane changes by determining optimal positions for lane entry, using sensors and map information to guide the vehicle along a reduced-interference path.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the vehicle control system relies on actual demarcation lines to generate target trajectories, then the system structure remains simple, but the system cannot perform appropriate driving control in branch sections where demarcation lines are absent
Solution Approach 1:
The system performs preliminary action by setting virtual demarcation lines in advance in branch sections where actual demarcation lines are absent. The recognizer identifies branch sections using map information before the vehicle reaches them, and pre-establishes virtual demarcation lines to guide subsequent trajectory generation and lane change operations, ensuring reliable control from the outset.
Solution Approach 2:
The virtual demarcation line acts as an intermediary element between the absent actual demarcation line and the trajectory generation system. It mediates the gap in visual information by providing a computational reference that enables the driving controller to generate appropriate target trajectories and execute lane changes in branch sections without relying on physical markings.
2Ease of operation
If the vehicle changes lanes directly without considering virtual demarcation lines, then the operation is simple, but interference with the branch lane occurs leading to inappropriate trajectory generation
Solution Approach 1:
The system implements feedback by continuously evaluating the degree of interference between the generated target trajectory and the virtual demarcation line. The driving controller adjusts the trajectory generation process based on this interference assessment, modifying lane change parameters such as timing, angle, and curvature to minimize interference with the virtual demarcation line while achieving the lane change objective.
3Adaptability or versatility
If multiple branch lanes are present, then the system has more routing options, but determining the correct target trajectory becomes more complex due to potential interference between trajectories
Solution Approach 1:
The system applies local quality by determining the degree of interference between target trajectories and virtual demarcation lines at each specific branch lane location. Instead of using a uniform approach for all branch lanes, it evaluates and optimizes trajectories individually for each branch lane based on local geometric characteristics and interference patterns, selecting the most appropriate trajectory for the intended destination.
Data Source
AI summary
A vehicle control device according to an embodiment includes a recognizer that recognizes a surroundings situation of a host vehicle, and a driving controller that generates a target trajectory for the host vehicle on the basis of a recognition result of the recognizer, and controls one or both of speed and steering of the host vehicle so that the host vehicle travels along the generated target trajectory, and the driving controller generates the target trajectory so that a degree of interference between a demarcation line demarcating the main line side and the branch lane side and the target trajectory of the host vehicle is reduced when the host vehicle is caused to perform course change from the main line side to the branch lane side in a branch section in which a main line and a branch lane are connected.