Virtual Lane Line Generation for Invalid Detection
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Solution Overview
Problem
Conventional lane keeping systems in vehicles are ineffective in scenarios involving highway entrances, exits, turn lanes, and intersections, as they incorrectly detect lane lines, leading to potential veering off the road.
Innovation Solution
A computer-implemented method that uses image data to detect pairs of lane lines, determines the validity of these lines based on parallelism and curvature, generates a virtual lane line when an invalid line is detected, and controls the vehicle's steering assist system using the valid and virtual lane lines to maintain the vehicle on the desired path.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If conventional lane keeping systems detect lane lines using image data, then lane keeping functionality is provided, but the system incorrectly detects invalid lane lines in scenarios involving highway entrances, exits, turn lanes, and intersections, leading to potential veering off the road
Solution Approach 1:
The system performs preliminary actions by generating a virtual lane line based on previously detected valid lane lines before the invalid lane line is encountered. This predictive approach allows the system to maintain accurate lane keeping guidance even when the current image data contains invalid lane lines from intersections, exits, or other complex road scenarios.
Solution Approach 2:
The virtual lane line acts as an intermediary element that replaces invalid detected lane lines. When the system identifies that detected lane lines are invalid (e.g., from highway entrances, exits, turn lanes, or intersections), it substitutes them with computationally generated virtual lane lines that represent the true lane boundaries, thereby maintaining measurement precision and reliability.
2Ease of operation
If the system uses detected lane lines for steering control, then lane centering is achieved, but incorrect lane line detection in complex road scenarios causes the vehicle to veer off the desired path
Solution Approach 1:
The system implements feedback by continuously monitoring detected lane lines and validating their correctness. When invalid lane lines are detected (such as those from intersections or highway exits), the system provides feedback by generating corrective virtual lane lines based on historical valid lane line data, ensuring the steering control remains reliable and accurate.
Solution Approach 2:
The system performs preliminary generation of virtual lane lines based on previously detected valid lane lines before the invalid lane lines affect steering control. This proactive approach ensures that lane centering accuracy is maintained by having ready-to-use virtual lane line data when detection fails in complex scenarios.
3Quantity of substance
If the system detects outer lane lines of entrance/on-ramp or exit/off-ramp lanes, then more lane lines are available for detection, but the system incorrectly identifies these as valid lane lines for the current lane, causing erroneous steering commands
Solution Approach 1:
The system extracts and identifies invalid lane lines from the set of detected lane lines. When multiple lane lines are detected (including outer lane lines of entrance/on-ramp or exit/off-ramp lanes), the system separates the valid lane lines from invalid ones by analyzing their geometric relationships and consistency with the vehicle's current lane, thereby maintaining measurement precision despite the increased quantity of detected lines.
Solution Approach 2:
The system performs preliminary validation of detected lane lines to determine their validity before using them for steering control. By proactively identifying and filtering out invalid lane lines (such as outer lane lines from ramps or intersections), the system maintains high measurement precision even when a large quantity of lane lines are detected in complex road scenarios.
Data Source
AI summary
A computer-implemented method includes receiving, at a controller of a vehicle, the controller having one or more processors, image data of a road in front of and along which the vehicle is traveling, the road having a plurality of lane lines defining at least one lane. The method includes detecting a pair of the lane lines using the image data. The method includes determining that one of the pair of lane lines is an invalid lane line for defining a lane in which the vehicle is traveling. The method includes generating a virtual lane line based on previous image data in response to determining the invalid lane line, the virtual lane line being configured to replace the invalid lane line. The method also includes controlling lane keeping of the vehicle using the virtual lane line and the other lane line of the pair of lane lines.