Autonomous Lane Change Camber Compensation
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Solution Overview
Problem
Autonomous vehicles face challenges in maintaining trajectory and occupant comfort during lane changes due to varying road camber between lanes, leading to unwanted lateral position deviations and forces.
Innovation Solution
A method and system that detect road camber using sensors and electronic processors to apply compensating forces through steering or trajectory control, adjusting the vehicle's trajectory to minimize deviations and ensure comfort and safety during lane changes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the vehicle performs an automated lane change without compensating for road camber, then the lane change maneuver is simple and fast, but lateral position deviation occurs and occupant comfort deteriorates
Solution Approach 1:
The system performs feed-forward compensation by detecting road camber before the lane change maneuver and pre-calculating the required compensating steering angle. This allows the trajectory control system to anticipate and counteract lateral position deviations caused by camber changes between lanes, improving trajectory accuracy without requiring complex real-time adjustments during the maneuver
2Reliability
If the trajectory control system adapts to changes in compensating force, then lateral position deviation is reduced, but the complexity of real-time control increases
Solution Approach 1:
The system implements feedback control by continuously monitoring the vehicle's actual trajectory during the lane change maneuver and comparing it with the desired trajectory. Based on the detected deviations, the trajectory control system dynamically adjusts the compensating steering angle to maintain the vehicle on the desired path, ensuring position stability through closed-loop control
3Manufacturing precision
If feed-forward compensation is implemented using target lane camber information, then lateral position deviation is minimized, but the system requires additional sensing and processing capabilities
Solution Approach 1:
The system uses road camber detection as an intermediary measurement to infer the lateral forces that will act on the vehicle during the lane change. By detecting the camber angle of the target lane using existing sensors and using this information to pre-calculate compensating steering angles, the system achieves precise lane change control without requiring direct measurement of lateral forces or complex multi-sensor fusion systems
Data Source
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AI summary
A method and system for controlling a lane change maneuver of an autonomous vehicle. The method includes detecting a feature of a road surface with a sensor and determining, at an electronic processor, a road camber of a target lane based on the feature. The target lane is a traffic lane targeted for a lane change maneuver by the autonomous vehicle. The method further includes determining a lateral compensating force based on the road camber and applying the lateral compensating force, by the electronic processor, during the lane change maneuver.