Vehicle Trajectory Control Using Virtual Branch Lane Markings
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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 demarcation lines for main and branch lanes are absent, leading to inadequate lane changes.
Innovation Solution
A vehicle control system that utilizes a recognizer to set a virtual demarcation line based on recognized demarcation lines from the main lane, generating a target trajectory for the host vehicle to follow, adjusting speed and steering to smoothly transition from the main lane to the branch lane, even when the branch lane demarcation line is not visible.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the system relies on recognizing actual demarcation lines for generating target trajectories, then measurement precision is improved, but in branch sections without demarcation lines, the system cannot generate appropriate trajectories
Solution Approach 1:
The patent introduces a virtual demarcation line as an intermediary element when actual demarcation lines are not present. The virtual demarcation line is generated based on map information about the branch section geometry, serving as a mediator that enables trajectory generation in the absence of physical demarcation lines. This resolves the contradiction by providing a substitute reference that maintains measurement precision while extending adaptability to branch sections.
Solution Approach 2:
The system changes the parameter state of the demarcation line from physical/visual (actual line) to virtual/computed (virtual line) when operating in branch sections. By switching between these parameter states based on the presence or absence of actual demarcation lines, the system maintains trajectory generation capability across different road configurations, resolving the contradiction between precision and adaptability.
2Adaptability or versatility
If the system uses virtual demarcation lines in branch sections, then adaptability is improved, but interference between the vehicle and virtual demarcation line may occur
Solution Approach 1:
The system performs preliminary actions by generating the virtual demarcation line in advance based on map information before the vehicle reaches the branch section. This allows the trajectory planning system to pre-compute the target trajectory, ensuring smooth transitions and avoiding sudden adjustments that could cause interference. The virtual demarcation line is established as a reference before the vehicle enters the critical branch section area.
Solution Approach 2:
The system continuously monitors the vehicle's position relative to the virtual demarcation line and adjusts the trajectory in real-time based on this feedback. By comparing the actual vehicle position with the virtual demarcation line position, the system can make corrective steering adjustments to prevent interference, thus maintaining adaptability while eliminating the harmful effect of interference.
3Manufacturing precision
If the system generates target trajectory using virtual demarcation line, then driving control accuracy is improved in branch sections, but device complexity increases
Solution Approach 1:
The system achieves universality by using a single trajectory generation framework that can handle both conventional sections (with actual demarcation lines) and branch sections (with virtual demarcation lines). The same basic algorithm processes both types of input, eliminating the need for separate complex systems for different road configurations. This reduces overall device complexity while maintaining high driving control accuracy across all scenarios.
Solution Approach 2:
The system uses existing map information and the vehicle's own position data to generate the virtual demarcation line, rather than requiring external infrastructure or additional specialized sensors. The vehicle essentially serves itself by computing the virtual reference line from available data, reducing device complexity while achieving high control accuracy in branch sections.
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, and controls the host vehicle travels along the generated target trajectory, a map information has at least a start point, an end point, and demarcation line information of a branch section in which a main line and a branch lane are connected, the recognizer sets a virtual demarcation line on the branch side on the basis of information on a demarcation line on the main line side in the branch section when the recognizer cannot recognize a demarcation line on the branch side in the branch section in front of the host vehicle, and the driving controller generates a target trajectory in the branch section on the basis of the set virtual demarcation line.