Steering Angle Correction for Lane Changes Across Lane Slopes
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Solution Overview
Problem
Existing vehicle control systems experience lateral deviation when changing lanes due to differences in slope between lanes, as they fail to adequately adjust steering control for slope changes between lanes.
Innovation Solution
A vehicle control method that calculates and corrects the target steering angle based on both the slope of the current lane and the adjacent lane's slope during a lane change, ensuring the vehicle follows a corrected target steering angle to maintain trajectory alignment.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If steering assist control is executed based on cant index value detection, then steering control adapts to road surface slope changes, but lateral deviation occurs during lane change due to delayed response to slope changes between lanes
Solution Approach 1:
The control device acquires slope information of the adjacent lane before the lane change is completed. By preparing the slope correction value in advance based on pre-acquired adjacent lane slope data, the system can immediately apply the appropriate steering correction when the lane change begins, eliminating the detection and response delay that occurs with traditional cant index value-based methods.
2Device complexity
If traditional steering control is used without slope correction, then control system remains simple, but lateral deviation occurs due to uncorrected slope differences between lanes
Solution Approach 1:
The control device introduces slope information as an intermediary parameter that mediates between the steering control system and the road surface conditions. By acquiring slope data from map information for both the current lane and adjacent lane, and using this slope information to calculate correction values, the system accurately compensates for slope differences during lane change without requiring complex additional hardware.
Data Source
AI summary
A vehicle control device includes: a steering angle calculating unit configured to calculate a target steering angle of a steering wheel of a subject vehicle such that the subject vehicle follows a travel trajectory for a lane change; a steering angle correcting unit configured to correct the target steering angle based on a subject-lane slope representing a slope of a road surface in a width direction of a subject lane in which the subject vehicle is traveling and an adjacent-lane slope representing a slope of a road surface in a width direction of an adjacent lane being a lane change destination of the subject vehicle; and a steering control unit configured to perform steering control such that a steering angle of the steering wheel follows the corrected target steering angle.