Adaptive Lane Keeping Gain Control for Road Width
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Solution Overview
Problem
Existing lane keeping control devices face challenges in providing natural and stable steering support on wide roads like expressways while minimizing interference with driver avoidance maneuvers on narrow roads like general roads, where obstacles are prevalent.
Innovation Solution
A lane keeping control device that calculates a control amount for an electric power steering motor based on deviations from a target course, with a lateral position feedback gain set higher for wide roads and lower for narrow roads, allowing for adaptive feedback control to support stable lane keeping without interfering with driver steering.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If the lateral position feedback gain is set high to achieve stable lane keeping on wide roads, then lane keeping stability is improved, but steering interference increases on narrow roads
Solution Approach 1:
The lateral position feedback gain is made dynamic by adjusting it according to the detected traveling road width. The gain is set to a first value for wide roads and a second value for narrow roads, allowing the system to adapt to different driving environments and resolve the contradiction between stability and steering interference
Solution Approach 2:
The feedback gain parameter is changed based on the traveling road width condition. By detecting the road width and selecting appropriate gain values, the system optimizes lane keeping performance for wide roads while minimizing interference on narrow roads
2Ease of operation
If the lateral position feedback gain is set low to avoid interfering with driver steering on narrow roads, then steering freedom is improved, but lane keeping stability deteriorates on wide roads
Solution Approach 1:
The system dynamically adjusts the feedback gain based on road width detection, switching between a first gain value for wide roads and a second gain value for narrow roads, thereby maintaining stability on wide roads while preserving steering freedom on narrow roads
Solution Approach 2:
The feedback gain parameter is selectively changed according to the traveling environment. The control device detects road width and selects appropriate gain values to optimize both stability and steering freedom for different road conditions
Data Source
AI summary
A lane keeping control device of a vehicle sets a motor basic current according to driver steering torque, calculates a feed-forward control amount on the basis of a traveling road shape, calculates a deviation between positions of a vehicle track and a target course at a forward observation point to calculate a lateral position feedback control amount, calculates a yaw angle feedback control amount on the basis of a yaw angle of the vehicle, sets a lateral position feedback gain of the lateral position feedback amount to be larger when a traveling road width is large than when the traveling road width is small, and sets a yaw angle feedback gain of the yaw angle feedback control amount to be larger when the traveling road width is small than when the traveling road width is large.