Horizon-Stabilized Lateral Control for Vehicles
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Solution Overview
Problem
Existing systems for autonomous vehicle lateral control are computation-intensive, making them costly and unsuitable for mass-produced vehicles, especially when rapid decision-making is required at typical motor vehicle speeds.
Innovation Solution
A horizon-stabilized lateral control system using a combination of surroundings sensors and map data to determine a steering angle intervention, which calculates a horizon position and tangent points for the vehicle, enabling efficient and cost-effective autonomous steering adjustments.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If elastic bands or clothoid tentacles methods are used for autonomous vehicle lateral control, then collision-free path planning is achieved, but computational intensity increases significantly
Solution Approach 1:
The patent extracts only the essential geometric elements (tangent points, horizon points, intersection points) needed for steering control from the complex path planning problem. Instead of computing full elastic band or clothoid tentacle trajectories, the system extracts key geometric features that define the steering angle, significantly reducing computational requirements while maintaining safety.
Solution Approach 2:
Instead of computing complex trajectories and then deriving steering angles from them, the patent inverts the approach by directly computing the steering angle through geometric construction. The system determines the horizon position and constructs tangent lines to define the steering angle specification, bypassing the need for full trajectory computation.
2Measurement precision
If complex path planning algorithms are used for autonomous vehicle control, then accurate trajectory determination is achieved, but response time decreases for high-speed vehicle operation
Solution Approach 1:
The patent performs preliminary geometric setup by determining the horizon position function and identifying key geometric points (tangent points, intersection points) in advance. This pre-computation of geometric elements allows the steering angle to be quickly calculated from these pre-established references, enabling rapid response at high vehicle speeds while maintaining trajectory accuracy.
Solution Approach 2:
The system uses geometric copying by constructing tangent lines from pre-determined points and using these geometric copies to define the steering angle. Instead of re-computing complex trajectories, the system copies geometric relationships (tangent lines, horizon positions) that can be quickly evaluated, achieving both accuracy and speed.
3Measurement precision
If powerful computers are used to handle computation-intensive algorithms, then accurate lateral control is achieved, but system cost increases for mass-produced vehicles
Solution Approach 1:
The patent replaces expensive, high-performance computing systems with a simpler, more cost-effective computational approach. By using basic geometric constructions and algebraic calculations instead of complex iterative algorithms, the system achieves accurate lateral control using inexpensive processors suitable for mass-produced vehicles.
Solution Approach 2:
The patent substitutes complex computational mechanics with simple geometric and algebraic operations. Instead of using powerful computers running intensive algorithms, the system uses mathematical geometry (tangent lines, horizon points, intersection calculations) that can be processed by standard vehicle processors, reducing hardware costs while maintaining control accuracy.
Data Source
AI summary
Lateral control of a vehicle, based on surroundings sensor signals of a surroundings sensor system of a host vehicle and/or maps, combined with an instantaneous position determination, wherein the course of the instantaneously traveled roadway and the position of the host vehicle on the roadway are determined, based on the surroundings sensor signals and/or the position determination, autonomous steering interventions are made in the host vehicle, which as a result, approximate or correspond to actuations of a steering wheel of the host vehicle, or provide a driver with information concerning steering interventions, a horizon position on the instantaneously traveled roadway to which the host vehicle is to be oriented is repeatedly determined, in that, starting from an instantaneous position of the host motor vehicle, an inner tangent point situated ahead of the host vehicle on the instantaneously traveled roadway is determined, and, starting from a point on the host motor vehicle, a tangent through this inner tangent point to a point of intersection with a horizon point function is determined, and an angle is enclosed between the center longitudinal axis of the host vehicle and the tangent, and is used for determining an angle specification for the steering intervention.