Compensator for Vehicle Traveling State Time Delay
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Solution Overview
Problem
Driver assistance systems face time delays in acquiring the vehicle's traveling state, leading to unstable control and difficulty in maintaining the vehicle's position on the target path.
Innovation Solution
A driver assistance system that includes an imager, a target path generator, a traveling state acquirer, a controller, and a compensator to compensate for time delays in acquiring the vehicle's state, allowing for stable control by adjusting the steering based on compensated data.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If image processing and communication are performed to acquire the traveling state, then the traveling state can be obtained, but time delays occur causing unstable control
Solution Approach 1:
The compensator performs preliminary calculations using past traveling state data and vehicle dynamics models to predict the current traveling state, compensating for the time delay before the control action is executed. This allows the control system to act as if it has immediate information about the current state.
Solution Approach 2:
The system uses feedback from past traveling states and continuously updates the compensated traveling state estimate. The compensator integrates past measurements with vehicle dynamics models to provide continuous feedback about the predicted current state, improving control stability.
2Measurement precision
If image processing is performed to calculate present location, then the location can be determined, but time delays cause the location to differ from the actual present location
Solution Approach 1:
The compensator calculates the present location by predicting forward from past image-based location data using vehicle dynamics models. This preliminary prediction compensates for the processing time delay, providing an estimate of where the vehicle is now rather than where it was when the image was captured.
Solution Approach 2:
The compensator acts as an intermediary between the image processing system and the control system, translating delayed image-based location data into accurate present location estimates through mathematical modeling and prediction.
Data Source
AI summary
A driver assistance system that can reduce time delays in acquiring the traveling state of a vehicle and can stably control the vehicle. In the driver assistance system, a vehicle-mounted camera acquires an image including the boundary of a driving lane on which a vehicle travels. A target path generator generates a target path that is a path, on which the vehicle has to travel on the driving lane, based on the image. A traveling state acquirer acquires the traveling state of the vehicle on the driving lane based on the image. A controller performs steering control for causing the vehicle to travel along the target path based on the target path and the traveling state. A compensator compensates a time delay when the traveling state acquirer acquires the traveling state.