Autonomous Driving Longitudinal Control Adaptation
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Solution Overview
Problem
Autonomous driving vehicles, particularly commercial vehicles with trailers, face challenges in optimal longitudinal control due to varying vehicle inertia and slip, which existing longitudinal control strategies applied to sedans cannot effectively address.
Innovation Solution
A method and apparatus for controlling autonomous driving that generates error-corrected longitudinal control values based on sensing information from various sensors, including trailer and driving context parameters, to improve tracking performance and adapt to different vehicle specifications and driving conditions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a longitudinal control strategy applied to typical sedan is applied to commercial vehicle without change, then the control strategy can be implemented, but it cannot perform optimal longitudinal control appropriate to the characteristic of the commercial vehicle
Solution Approach 1:
The patent applies parameter changes by adjusting longitudinal control parameters based on vehicle type characteristics. The controller modifies acceleration and deceleration rates, response times, and force application parameters to account for the higher mass, inertia, and slip characteristics of commercial vehicles compared to sedans, thereby achieving optimal control performance for each vehicle type
Solution Approach 2:
The patent implements dynamics by making the longitudinal control strategy adaptive and dynamic rather than static. The controller continuously adjusts control parameters based on real-time vehicle state, acceleration requests, and vehicle type identification, allowing the system to transition between different control modes appropriate for sedans, commercial vehicles, or vehicles with trailers
2Adaptability or versatility
If the large truck is changed in length and weight of a vehicle body depending on whether the trailer is attached to the large truck, then the vehicle can accommodate different cargo configurations, but the vehicle inertia and influence by slip increase
Solution Approach 1:
The patent implements dynamics by making the longitudinal control strategy adaptive and dynamic rather than static. The controller continuously adjusts control parameters based on real-time vehicle state, acceleration requests, and vehicle type identification, allowing the system to transition between different control modes appropriate for sedans, commercial vehicles, or vehicles with trailers
Solution Approach 2:
The patent applies feedback by using sensor data to monitor actual vehicle acceleration and comparing it with requested acceleration. The controller uses this feedback to detect discrepancies caused by varying inertia and slip conditions, then adjusts control forces in real-time to compensate for the effects of trailer attachment and maintain accurate acceleration control
3Measurement precision
If various sensors are used to obtain surrounding environment information and vehicle body information, then longitudinal control tracking performance can be improved, but the system complexity increases
Solution Approach 1:
The patent applies universality by designing a control system that uses a multi-functional sensor suite where the same sensors serve multiple purposes. For example, acceleration sensors measure both vehicle acceleration for control feedback and serve as collision detection sensors, while wheel speed sensors provide both traction control data and braking feedback, reducing the need for separate dedicated sensors for each function
Data Source
AI summary
A method for controlling autonomous driving for an autonomous driving vehicle, includes collecting sensing information on autonomous driving in an autonomous driving mode, calculating an initial longitudinal control value based on the sensing information on the autonomous driving, correcting the initial longitudinal control value based on the sensing information, and performing a longitudinal driving control by transmitting the corrected longitudinal control value to a lower controller.