Vehicle Actuator Control With Saturation-Aware Path Following
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Solution Overview
Problem
Existing obstacle avoidance systems in vehicles, such as AES, impose borderline controllable paths, compromising driver safety and system performance due to conservative LPV modeling and lack of explicit saturation handling.
Innovation Solution
A control method using a controller with dead-zone nonlinearity to model saturation functions, ensuring stability and performance by separating stability and performance conditions, and incorporating initial vehicle states and actuator constraints.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If conservative LPV modeling is used to ensure stability, then system stability is improved, but path-following precision deteriorates
Solution Approach 1:
The patent changes the modeling parameters from conservative LPV to dead-zone nonlinearity, allowing the system to explicitly account for saturation characteristics. This parameter change enables the controller to achieve both stability and precision by properly representing the actuator's nonlinear behavior in the control model.
Solution Approach 2:
The patent introduces dynamic separation between stability conditions and performance conditions in the controller synthesis. The controller adapts its behavior based on operating conditions, applying different control strategies for stability assurance versus path-following precision, thereby resolving the contradiction between these two requirements.
2Device complexity
If saturation functions are not explicitly modeled, then controller complexity is reduced, but performance deteriorates
Solution Approach 1:
The patent incorporates explicit saturation function modeling with dead-zone nonlinearity into the controller design. By changing the modeling approach to include these nonlinear characteristics, the controller achieves better performance in following avoidance paths while managing complexity through systematic synthesis methods.
3Device complexity
If stability and performance conditions are not separated, then control synthesis is simplified, but performance in certain modes deteriorates
Solution Approach 1:
The patent segments the control synthesis into two distinct parts: stability conditions and performance conditions. This segmentation allows each aspect to be optimized independently - stability is ensured through appropriate modeling while performance is enhanced by dedicated performance conditions, resolving the contradiction between synthesis simplicity and mode-specific performance.
Data Source
AI summary
A method is for autonomously driving an actuator of an automotive device. The actuator is intended to have an influence on the trajectory of the device. The method includes acquiring parameters relating to the trajectory of the device and a computer calculating a setpoint for driving the actuator as a function of the parameters via a controller associated with at least one saturation function for an output of the controller. The controller satisfies a model of the at least one saturation function per nonlinear sector.