Commercial Vehicle Turn Path Correction for Lane-Safe Cornering
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Solution Overview
Problem
Conventional methods for controlling autonomous vehicles based on high-definition maps do not account for the size of commercial vehicles, leading to potential collisions during turns due to insufficient turning space.
Innovation Solution
A driving control method that generates a corrected route by adjusting the vehicle's position within the lane to ensure a larger turning radius, using sensors and a high-definition map to predict and prevent collisions by determining the risk of deviation from the lane.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a conventional driving route generated based on a high-definition map is used for commercial vehicles, then the route generation process is simple and fast, but the vehicle cannot turn stably and may collide with road boundaries due to insufficient turning space
Solution Approach 1:
The system performs preliminary detection of turning sections ahead of the vehicle and pre-calculates corrected routes before the vehicle reaches the turning point. This allows the vehicle to execute stable turns without real-time computational delays, resolving the contradiction between turning stability and system complexity by preparing corrective actions in advance
Solution Approach 2:
The system modifies the driving route parameters by adjusting the position of the driving lane centerline in turning sections. It calculates a corrected route that shifts the reference path outward, increasing the turning radius to accommodate the vehicle's length. This parameter change enables stable turning while maintaining an automated route generation process
2Reliability
If the vehicle follows a conventional driving route without correction, then the control system is simple, but the vehicle body deviates from the driving lane and collides with other vehicles or curbs
Solution Approach 1:
The system continuously monitors the vehicle's position relative to the corrected driving lane and adjusts the steering control based on the calculated offset. This feedback mechanism ensures the vehicle maintains proper positioning during turns, achieving collision prevention through automated control that adapts to the corrected route parameters
Solution Approach 2:
The corrected driving lane centerline acts as an intermediary reference that mediates between the original high-definition map route and the actual vehicle path. By following this intermediate corrected path rather than the original route, the vehicle achieves safe turning without requiring complex real-time obstacle avoidance algorithms
Data Source
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AI summary
An embodiment driving control method includes determining whether a turning section is present ahead along a driving route of a host vehicle, determining a first turning radius with respect to a center of the host vehicle in response to determining that the turning section is present, determining, based on the first turning radius, a second turning radius required to prevent the host vehicle from deviating from a lane to an inside in a turning direction, determining a third turning radius with respect to an inner rear wheel in consideration of an overall width of the host vehicle, and controlling the host vehicle to travel along the driving route or to travel along a corrected route generated by correcting the driving route based on relative sizes of the second turning radius and the third turning radius.