ADAS Lateral Control Loop Robust to Vehicle Parameter Variations
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Advanced driver-assistance systems (ADAS) for sideways control of motor vehicles lack robustness due to their slow rate of change, making them vulnerable to parametric variations.
Innovation Solution
A method is introduced to optimize the closed loop of ADAS by synthesizing a controller using a bicycle model of the vehicle, considering a family of models with dispersions in vehicle mass, cornering stiffness, and center of gravity position to enhance robustness.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a closed loop with slow rate of change is used to ensure gentle control and avoid jerks, then driver comfort is improved, but robustness with respect to parametric variations deteriorates
Solution Approach 1:
The patent applies parameter changes by using a family of bicycle models with varied parameters (mass, cornering stiffness, center of gravity position, moment of inertia) to synthesize a controller that maintains robust performance across different vehicle configurations while preserving the gentle control characteristics needed for driver comfort
2Ease of operation
If a single bicycle model is used for controller synthesis, then the control is gentle and avoids jerks, but the system lacks robustness to parametric variations
Solution Approach 1:
The patent implements universality by designing a controller that works across multiple bicycle models representing different vehicle configurations. The controller synthesized from a family of models with varied parameters (mass, cornering stiffness, center of gravity, moment of inertia) achieves universal applicability while maintaining control smoothness
Solution Approach 2:
The patent uses parameter changes by systematically varying the bicycle model parameters (mass, cornering stiffness, center of gravity position, moment of inertia) to create a family of models. This allows the controller to be robust across different vehicle configurations without sacrificing control quality
Data Source
AI summary
A method for implementing a closed loop of an advanced driving aid device for the lateral control of a motor vehicle includes synthesizing a controller of the closed loop by solving an optimization problem based on a bicycle model of the vehicle. A family of at least two bicycle models of the vehicle is established, these models having, with respect to one another, at least one dispersion chosen from among a dispersion of mass of the vehicle, a dispersion of drift rigidity on a drivetrain of the vehicle, a dispersion of the center of gravity of the vehicle, and a dispersion of the position of the matrix of inertia of the vehicle, the optimization problem being solved on the basis of all models of the family.