Backward Driving Assist Using Reversed Trace Data
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Solution Overview
Problem
Existing backward driving assist systems for vehicles face challenges in precision and convergence speed when estimating ego vehicle position and interpolating driving trace data during reverse maneuvers, particularly in narrow spaces, due to differences in vehicle movement traces between forward and backward driving, and limitations in sensing obstacles without rear and side sensors.
Innovation Solution
A backward driving assist apparatus that uses a vehicle speed sensor, steering angle sensor, and yaw rate sensor to estimate ego vehicle position through dead reckoning, interpolates driving trace data with curve or linear functions based on lateral changes, and generates a target steering angle by compensating for direction angle errors, utilizing a Motor Driven Power Steering (MDPS) controller for precise steering assistance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If backward driving control is performed using the same method as forward driving control, then the control system is simple, but the error rate increases due to different turn radiuses between forward and backward driving
Solution Approach 1:
The patent applies inversion by reversing the stored forward driving trace data and using it for backward driving control. Instead of creating a separate backward driving model, the system stores trace data during forward driving, reverses the sequence, and applies it to backward driving, thereby adapting the forward driving control method to backward driving conditions while maintaining system simplicity
Solution Approach 2:
The system performs preliminary action by storing driving trace data during forward driving before backward driving is needed. This pre-stored data is then reversed and used for backward driving control, allowing the system to prepare control information in advance and reduce real-time computational complexity
2Loss of information
If driving trace data is stored at each predetermined distance during forward driving, then the data coverage is comprehensive, but the data quantity increases and requires more storage and processing
Solution Approach 1:
The patent extracts only the essential trace data points needed for backward driving control rather than storing all raw sensor data. By selecting key position and steering information at predetermined distances, the system maintains comprehensive coverage while reducing overall data quantity and storage requirements
Solution Approach 2:
The driving trace data is segmented into discrete points at predetermined distances rather than continuous data streams. This segmentation reduces data quantity while preserving essential information, making the data more manageable for storage and processing during backward driving control
Data Source
AI summary
A backward driving assist apparatus for a vehicle may include: a vehicle speed sensor configured to measure a vehicle speed by counting a wheel pulse of a wheel; a steering angle sensor configured to measure a steering angle of a steering wheel; a yaw rate sensor configured to measure a yaw rate of the vehicle during driving; a driving trace storage configured to store driving trace data generated during forward driving; and a controller configured to estimate the position of the ego vehicle, interpolate the driving trace data generated at each preset distance, store the driving trace data in the driving trace storage, read the driving trace data from the driving trace storage during backward driving, generate a target steering angle by compensating for a direction angle error from the ego vehicle position, and output the target steering angle to an MDPS controller.