Autonomous Vehicle Steering Control for Path Offset Compensation
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Solution Overview
Problem
Autonomous vehicles face challenges in steering control due to varying factors such as vehicle speed, turning radius, and path offset from a planned route, requiring adaptive steering compensation to effectively maneuver around obstacles.
Innovation Solution
A computer-implemented method for autonomous vehicle steering control calculates first and second steering angles based on target and actual directional and lateral positions, using PID controllers with dynamically adjusted coefficients to determine a target steering angle, accounting for command and data acquisition delays.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If traditional steering control methods are used, then the system is simple to implement, but the steering control precision deteriorates under varying vehicle speed and turning radius conditions
Solution Approach 1:
The patent implements dynamic adjustment of PID controller coefficients (Kp, Ki, Kd) based on real-time vehicle operating conditions including speed, turning radius, and path offset. This dynamic adaptation allows the controller to maintain optimal performance across varying driving scenarios, resolving the contradiction between precision and complexity by making the system adaptive rather than static
Solution Approach 2:
The patent changes control parameters (PID coefficients) based on vehicle state parameters such as speed and turning radius. By adjusting these parameters dynamically, the system maintains high steering control precision under different operating conditions without requiring a completely complex control architecture
2Adaptability or versatility
If PID controllers with dynamic coefficient adjustment are used, then the steering control adaptability improves, but the computational complexity increases
Solution Approach 1:
The patent adjusts PID controller parameters based on vehicle speed, turning radius, and path offset conditions. This parameter adaptation enables the system to handle diverse steering scenarios dynamically, achieving high adaptability while managing computational complexity through targeted parameter adjustment rather than complete recalculation
Solution Approach 2:
The patent pre-establishes the framework for dynamic coefficient adjustment and the relationships between vehicle parameters and optimal PID values. This preliminary setup allows the system to adapt quickly during operation without requiring complex real-time computations for every parameter adjustment
3Measurement precision
If steering control compensates for path offset, then the route following accuracy improves, but the response time increases due to multiple calculation steps
Solution Approach 1:
The patent pre-calculates and stores optimal PID coefficient values for different vehicle operating conditions. This preliminary preparation allows the control system to quickly retrieve and apply appropriate coefficients without performing complex real-time calculations, thus maintaining high route following accuracy while minimizing response time delays
Solution Approach 2:
The patent implements dynamic coefficient adjustment that responds to changing vehicle conditions. This dynamic approach allows the system to adapt to path offset conditions efficiently, maintaining accuracy while reducing the computational burden and response time compared to static or overly complex dynamic systems
Data Source
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AI summary
An autonomous driving vehicle (ADV) steering control system determines how much and when to apply a steering control to maneuver obstacles of a planned route. The steering control system calculates a first steering angle based on a target directional angle and an actual directional angle of the ADV, a second steering angle based on a target lateral position and an actual lateral position of the ADV to maneuver a planned route, an object, or an obstacle course. The steering control system determines a target steering angle based on the first steering angle and the second steering angles and utilizes the target steering angle to control a subsequent steering angle of the ADV.