Lane Change Trajectory Calibration via IMU Feedback
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Solution Overview
Problem
Existing lane changing systems face challenges in maintaining smooth transitions due to external factors like wind and road conditions, leading to jerks when switching from lane change assist to lane keeping assist systems.
Innovation Solution
A trajectory planning method that utilizes a processing unit, lane detection module, and inertial measurement unit to calculate and calibrate a lane change trajectory, adjusting for longitudinal and lateral displacements and yaw angles to ensure a smooth and safe lane change.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the vehicle switches from LCA system to LKAS system or LFS, then the lane keeping function is restored, but jerks occur due to trajectory mismatch caused by external factors
Solution Approach 1:
The system performs preliminary calibration of the lane change trajectory by calculating actual longitudinal and lateral displacements and yaw angles during the lane change process. This pre-computation of correction values ensures that when the vehicle transitions from LCA to LKAS system, the trajectory mismatch is minimized, preventing jerks and maintaining riding comfort.
Solution Approach 2:
The system continuously monitors the actual vehicle position and orientation during lane change using IMU data, comparing it with the planned trajectory. The calculated displacements and yaw angles provide feedback that is used to generate correction values, which are then applied to ensure smooth transition between systems and maintain trajectory accuracy.
2Extent of automation
If the LCA system plans a lane changing trajectory, then the vehicle can change lanes automatically, but the vehicle may be unable to follow the trajectory due to external factors like wind, rain, and road conditions
Solution Approach 1:
The system uses IMU sensors to continuously monitor actual vehicle motion during lane change and compares it with the planned trajectory. The calculated longitudinal displacement, lateral displacement, and yaw angle provide real-time feedback on trajectory deviation caused by external factors, enabling dynamic correction.
Solution Approach 2:
The system dynamically adjusts trajectory parameters by computing correction values based on actual vehicle response to external disturbances. The longitudinal and lateral displacement corrections and yaw angle adjustments modify the original trajectory parameters to compensate for wind, rain, and road condition effects.
Data Source
AI summary
A trajectory planning method for lane changing of a vehicle includes steps of: calculating a current position of a reference point of the vehicle on a preliminary lane change trajectory that is received from an LCA system of the vehicle at a current time point; based on kinematics data received from an IMU of the vehicle, calculating longitudinal and lateral displacements of the reference point moving during a unit of time from the current time point to a next time point, and a yaw angle of the vehicle at the next time point; and obtaining a calibrated lane change trajectory based on the preliminary lane change trajectory, the current position, the longitudinal and lateral displacements, and the yaw angle.