Dual-Controller Lane Keeping Validation for Autonomous Vehicles
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Solution Overview
Problem
Current automated driving systems lack robustness in maintaining lane control and fail to independently validate control commands, leading to potential software or hardware issues that can compromise vehicle safety and reliability.
Innovation Solution
A dual-controller system is implemented, where a primary controller communicates actuator control signals based on an automated driving system algorithm, and a secondary controller verifies and overrides these signals by predicting vehicle paths and perpendicular distances to lane markers, enabling independent validation and fallback commands to maintain safe operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a single automated driving system controller is used, then device complexity is reduced, but reliability and safety are compromised due to inability to independently validate control commands
Solution Approach 1:
The automated driving system is segmented into two independent controllers: a primary controller that generates actuator control signals and a secondary controller that independently validates these signals. This segmentation allows each controller to perform specialized functions, with the secondary controller providing independent validation without requiring a complete system redesign, thus improving reliability while managing complexity through functional division.
2Reliability
If the second controller continuously monitors and validates all actuator control signals, then safety and reliability are improved, but processing time and computational load increase
Solution Approach 1:
The secondary controller performs partial validation by focusing specifically on critical lane control parameters (steering angle, lane deviation, actuator position) rather than validating all actuator control signals comprehensively. This selective monitoring approach provides sufficient safety assurance for lane keeping while reducing computational overhead and processing time compared to complete signal validation.
Solution Approach 2:
The secondary controller pre-establishes safety thresholds and validation criteria for lane control parameters before operation. By preparing validation rules in advance (preliminary action), the secondary controller can quickly compare incoming control signals against pre-defined safety boundaries without performing complex real-time calculations, thus reducing processing time while maintaining reliability.
3Reliability
If fallback commands are implemented for predicted lane deviations, then safety is improved, but device complexity increases due to additional control logic
Solution Approach 1:
The secondary controller implements preliminary anti-action by predicting potential lane deviations before they occur and preparing fallback commands in advance. When lane deviation is predicted, the system proactively applies corrective steering adjustments rather than reacting after the deviation occurs. This predictive approach enhances safety by preventing unsafe conditions while using relatively simple reactive control logic rather than complex real-time optimization algorithms.
Data Source
AI summary
An automotive vehicle includes a vehicle steering system, an actuator configured to control the steering system, a first controller, and a second controller. The first controller is in communication with the actuator. The first controller is programmed with a primary automated driving system control algorithm and is configured to communicate an actuator control signal based on the primary automated driving system control algorithm. The second controller is in communication with the actuator and with the first controller. The second controller is configured to, in response to a first predicted vehicle path based on the actuator control signal deviating from a current lane, control the actuator to maintain a current actuator setting. The second controller is also configured to, in response to the first predicted vehicle path being within the current lane, control the actuator according to the actuator control signal.