Dynamic Steering Threshold Control for Automated Driving
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Solution Overview
Problem
Existing vehicle control systems for automatic driving face challenges in setting appropriate threshold values for steering control, particularly when dealing with varying steering operations such as turning and parking, and fail to monitor lower limits, leading to inadequate control during curved road travel.
Innovation Solution
A vehicle control apparatus that dynamically determines a control amount threshold value based on automatic driving control information, including surrounding environment and vehicle position data, to regulate the steering control amount, ensuring it does not exceed set limits, thereby preventing unintended steering operations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a fixed threshold value is used for steering control amount, then the system is simple to implement, but appropriate control cannot be performed for various driving scenarios such as turning, parking, and straight road travel
Solution Approach 1:
The patent applies dynamics by transitioning from a fixed threshold value to a dynamically adjustable threshold value. The threshold determination unit changes the threshold based on the determined driving scenario (e.g., turning, parking, straight road travel), allowing the steering control amount to adapt to various driving conditions. This resolves the contradiction by making the threshold flexible rather than static, improving adaptability without requiring complete system redesign.
Solution Approach 2:
The patent changes the parameter of the threshold value from a constant to a variable that depends on the driving scenario. By determining the current driving scenario and selecting appropriate threshold values for different scenarios, the system achieves adaptability to various driving conditions while maintaining a relatively simple implementation through parameter adjustment rather than structural complexity.
2Reliability
If only upper limit monitoring of output current is performed, then the monitoring system is simple, but states such as steering suspension during curved road travel cannot be coped with
Solution Approach 1:
The patent applies dynamics by introducing dynamic threshold values for both upper and lower limits of the steering control amount. Instead of using a fixed upper limit, the system determines thresholds based on the current driving scenario, enabling it to cope with various states including steering suspension during curved road travel. This dynamic approach improves reliability by accurately reflecting the actual operational requirements of different driving scenarios.
3Reliability
If a navigation device is used to obtain road information for limiting steering angle, then unintended steering operations can be prevented, but the system cannot detect abnormalities in the calculation part itself
Solution Approach 1:
The patent applies feedback by implementing a threshold determination unit that continuously monitors the steering control amount and compares it against dynamically determined thresholds. When the steering control amount exceeds or falls below the threshold, the system detects this as an abnormality and can take appropriate action. This feedback mechanism not only prevents unintended steering operations but also detects abnormalities in the calculation part itself, resolving the limitation of the navigation-based approach.
Data Source
AI summary
A vehicle control apparatus includes an automatic driving control device determining a travel route at a time of executing an automatic driving based on surrounding environment information and position information of a vehicle, and outputting a control amount corresponding to the travel route, and a steering control device calculating a steering control amount based on the control target value. There is a performing of steering control of the vehicle based on the steering control amount, wherein the automatic driving control device dynamically determines a control amount threshold value for regulating a limit of the steering control amount based on automatic driving control information indicating a control state in an automatic driving of the vehicle, and provides the steering control device with the control amount threshold value, and the steering control device changes the steering control amount not to exceed the control amount threshold value.