Lane Centering Control Using Lateral Acceleration Feedback
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Solution Overview
Problem
Existing vehicle lane centering control systems require time-consuming and costly calibration for each vehicle variant, typically performed using trajectory-based methods that rely on steering angle control and lookup tables, which are inefficient and labor-intensive.
Innovation Solution
A closed-loop vehicle variant independent lane centering control system utilizing vehicle sensors to measure speed, yaw rate, and lateral acceleration, with a lane centering controller determining target motor torque and adjusting for conditions like understeer or oversteer, and incorporating a PID controller for precise control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If trajectory-based calibration with lookup tables is used for lane centering control, then steering angle control can be achieved, but calibration time and costs increase significantly for each vehicle variant
Solution Approach 1:
The system uses lateral acceleration feedback from sensors to continuously adjust motor torque in real-time, replacing the open-loop trajectory-based calibration with closed-loop control that adapts to actual vehicle dynamics without requiring variant-specific calibration
Solution Approach 2:
The system changes the control parameter from steering angle (which requires calibration) to lateral acceleration (which can be directly measured and controlled), eliminating the need for trajectory-based calibration lookup tables while maintaining lane centering functionality
2Ease of operation
If trajectory-based calibration with lookup tables is used for lane centering control, then steering angle control can be achieved, but calibration costs increase due to labor-intensive processes
Solution Approach 1:
The closed-loop system uses real-time lateral acceleration feedback to automatically adjust motor torque, eliminating the need for manual trajectory-based calibration processes and reducing both labor requirements and calibration costs
Solution Approach 2:
The system performs self-calibration by using sensor measurements of lateral acceleration, yaw rate, and vehicle speed to automatically determine the torque characteristics curve without requiring external calibration equipment or engineer intervention for each vehicle variant
3Manufacturing precision
If characteristic curve is tuned for every vehicle variant, then accurate motor torque calculation can be achieved, but system complexity and calibration requirements increase
Solution Approach 1:
The system uses a universal sensor suite (accelerometers, gyroscopes, speed sensors) that can be applied to all vehicle variants to measure lateral acceleration, yaw rate, and speed, eliminating the need for variant-specific calibration while maintaining accurate motor torque calculation across all vehicle types
Solution Approach 2:
The system replaces the mechanical/calibration-based approach of tuning characteristic curves for each variant with an electronic sensor-based measurement system that directly measures lateral acceleration and uses feedback control to determine motor torque, simplifying the system while maintaining precision
Data Source
AI summary
Examples provide a system for performing lane centering control of a vehicle. The system includes a set of vehicle sensors configured to measure a speed of the vehicle, measure a yaw rate of the vehicle, and measure a lateral acceleration of the vehicle. The system also includes a lane centering controller configured to receive a requested lateral acceleration, determine a target lateral acceleration based on the requested lateral acceleration and the lateral acceleration, determine a target motor torque based on the target lateral acceleration, and determine whether a control override condition is met. In response to determining that the control override condition is not met, the lane centering controller controls a motor of the vehicle according to the target motor torque. The target motor torque is a motor torque necessary to achieve the target lateral acceleration.