Vehicle Turn Track Planning Without Map Data
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Solution Overview
Problem
Existing traveling track determination devices for vehicles on bent courses face difficulties in determining the future track when there is no map data available, particularly due to limitations in updating road network data in response to changes such as construction work, leading to inaccuracies in determining turns and potential interference with lane boundaries.
Innovation Solution
A traveling track determination device that calculates a future traveling track using a combination of straight lines and curved sections, including a first small curved line section, a large curved line section, and a second small curved line section, configured as Bézier curves, which allows for proper determination even without map data, and includes features to adjust the track to avoid lane boundaries and optimize turning radii.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If road network data is used to determine traveling track, then turning determination can be made using stored map information, but the system fails when map data is outdated or unavailable due to construction work or course changes
Solution Approach 1:
The system uses the vehicle's own travel information and sensor data to determine traveling track without relying on external map data. The traveling track determination device calculates the track based on the vehicle's current position, heading, and detected road features, making the system self-sufficient and adaptable to any course configuration.
Solution Approach 2:
The patent replaces the mechanical dependency on pre-stored road network data with a computational approach using real-time sensor data and geometric calculations. The system substitutes map-based determination with a calculation-based method that uses the vehicle's travel information and detected road boundaries to dynamically determine the traveling track.
2Device complexity
If a simple arc curve is used for turning, then the calculation is simple, but the vehicle may interfere with lane boundaries or opposite lanes during the turn
Solution Approach 1:
The turning track is divided into multiple sections: a first small curved line section with gradually increasing curvature, a large curved line section with maximum curvature, and a second small curved line section with gradually decreasing curvature. This segmentation allows the vehicle to smoothly transition through the turn while maintaining safe distances from lane boundaries.
Solution Approach 2:
The curvature of the traveling track is dynamically adjusted throughout the turning process. The curvature starts small, increases to a maximum value in the middle section, then decreases again. This dynamic curvature adjustment optimizes the turning path to avoid lane interference while maintaining calculation feasibility.
3Productivity
If the traveling track is determined without considering curvature variations, then the calculation is simpler, but the vehicle cannot properly navigate complex intersections or bent courses
Solution Approach 1:
The system changes the curvature parameter dynamically along the traveling track. By adjusting the curvature value from small to maximum and back to small, the system achieves precise track determination for complex intersections while maintaining computational efficiency through a systematic parameter variation approach.
Data Source
AI summary
A traveling track determination device includes an ECU. The ECU calculates a second course target point, and determines a future traveling track for the vehicle at right/left turn using a first straight line that extends from the vehicle through an intersection in a forward direction, a second straight line that extends along a second course through the second course target point and intersects with the first straight line in the intersection, and a curved track configured of a quadratic Bézier curve.