AEB Path Estimation Using Future Steering Angle Limiting
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Conventional vehicle collision estimation systems at intersections suffer from poor responsiveness and accuracy in steering angle estimation, leading to delayed actuation of autonomous emergency braking (AEB) systems.
Innovation Solution
A vehicle control device that estimates a future steering angle based on steering speed and correction gain, limits the angle to a steady-state maximum, and calculates a future vehicle position to improve responsiveness and accuracy, using sensors for target and vehicle path estimation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If conventional steering angle estimation methods are used without correction, then the system is simple to implement, but the responsiveness of steering angle estimation at the start of turn and turn back is poor
Solution Approach 1:
The system performs preliminary correction of the steering angle variation by calculating a corrected steering angle variation using a correction gain before estimating the future steering angle. This preliminary correction action improves the responsiveness of steering angle estimation at the start of turn and turn back, resolving the contradiction between responsiveness and system complexity.
2Measurement precision
If no limit value method is applied to steering wheel angle, then the system is simpler, but the accuracy of traveling path estimation deteriorates due to inability to uniquely determine the limit value
Solution Approach 1:
The system changes the parameter of steering angle by applying a limit value based on the correction gain and intersection angle. This parameter change ensures that the estimated steering angle does not exceed the actual steering angle, thereby improving the accuracy of traveling path estimation while maintaining reasonable system complexity.
3Reliability
If steering angle estimation is not corrected, then the system requires fewer computational resources, but the accuracy of future position estimation drops leading to delayed AEB actuation
Solution Approach 1:
The system uses feedback by calculating the correction gain based on the relationship between the variation in steering angle and the yaw rate. This feedback mechanism continuously adjusts the steering angle estimation to match actual vehicle behavior, improving the reliability of AEB system actuation while maintaining computational efficiency through adaptive correction.
Data Source
AI summary
Provided is a vehicle control device that enables earlier and correct actuation of an alarm and a brake of an AEB system by improving the responsiveness and accuracy of estimation of a traveling path of a host vehicle. According to the present invention, for example, a future steering angle is estimated highly responsively from a yaw angle during turning as a change in a steering speed at the start of turn of the steering wheel and at turning back of the steering wheel is taken into consideration, and the estimated steering angle is limited to prevent it from exceeding a steady-state steering angle (≈maximum steering angle) at the time of making a right or left turn at an intersection, the steady-state steering angle being determined from the vehicle's behavior at an initial stage of its turning. This prevents overestimation.