Autonomous Driving Speed Control With Adaptive Accel-Brake Switching
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Solution Overview
Problem
Existing vehicle control systems face challenges in accurately controlling the driving speed of host vehicles, particularly when transitioning between acceleration and deceleration modes, leading to uncomfortable rides and unclear control settings.
Innovation Solution
A vehicle control apparatus that determines the section for a control command value corresponding to required acceleration, selectively using acceleration or deceleration devices based on this determination, and continuously adapting control modes to maintain accurate speed control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If regenerative braking operation is performed when driving speed exceeds target speed, then speed control is attempted, but speed control accuracy deteriorates and ride comfort worsens due to repeated acceleration and braking operations
Solution Approach 1:
The control apparatus dynamically switches between acceleration device and deceleration device based on real-time driving conditions and vehicle state. The system adapts the control strategy by selecting appropriate devices (accelerator or brake) and control amounts according to the current situation, avoiding rigid repeated application of regenerative braking which causes discomfort and control instability.
2Speed
If regenerative braking is used to control speed, then some speed adjustment is achieved, but control amount setting becomes unclear and control precision deteriorates
Solution Approach 1:
The control apparatus adjusts control parameters (control amount) based on normalized required acceleration values and switching sections. By changing the control parameters dynamically according to the driving situation and vehicle state, the system achieves precise speed control with clear control amount setting, avoiding the ambiguity inherent in fixed regenerative braking strategies.
3Speed
If continuous regenerative braking is applied to maintain speed below target, then speed limitation is achieved, but ride comfort deteriorates due to repeated acceleration-braking cycles
Solution Approach 1:
The control apparatus performs preliminary assessment of the required acceleration and determines the appropriate control strategy before executing speed control. By pre-evaluating the driving situation and selecting the optimal device (accelerator or decelerator) and control amount, the system avoids unnecessary acceleration-braking cycles that destabilize the driving experience while maintaining speed limitation.
Data Source
AI summary
A vehicle control apparatus may include a sensor device, an acceleration device, a deceleration device, a memory, and a control device. The vehicle control apparatus may set an initial state of the host vehicle to an acceleration device operating state, may generate a required acceleration based on driving situation information and a host vehicle acceleration obtained based on the sensor device, and may identify a control command value that corresponds to the required acceleration and is to be delivered to at least one of the acceleration device or the deceleration device. The vehicle control apparatus may control at least one of the acceleration device or the deceleration device based on control information of a section including the control command value.