Lane Change Trajectory Correction for Driver Steering Deviation
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Solution Overview
Problem
Existing vehicle control systems cause driver discomfort during lane change control when the vehicle's lateral position deviates from the target trajectory due to driver steering intervention, leading to a feeling of interference or unexpected vehicle behavior.
Innovation Solution
A vehicle control device and method that adjusts the target trajectory by moving it forward or backward to align with the vehicle's current lateral position, maintaining smooth lane change control without disrupting the driver's steering operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If the control device applies steering torque in the direction opposite to driver's steering operation to return the vehicle to the target trajectory, then the vehicle can return to the target trajectory, but the driver feels discomfort or inconvenience because a feeling of interference occurs in the steering operation
Solution Approach 1:
The patent extracts the conflicting corrective steering torque from the driver's steering operation. When the vehicle deviates from the target trajectory due to driver input, the system separates the trajectory correction function from the driver's steering wheel operation, applying the corrective torque independently through the steering actuator rather than forcing the driver to counter-steer, thus maintaining both trajectory accuracy and driver comfort
Solution Approach 2:
The control device acts as an intermediary between the driver's steering input and the vehicle's actual steering response. It receives the driver's steering operation, calculates the deviation from the target trajectory, and applies corrective torque through the steering actuator as a mediating action, allowing the vehicle to follow the desired path without directly opposing the driver's steering wheel movements
2Manufacturing precision
If the control device applies steering torque in the direction opposite to driver's steering operation, then the vehicle can return to the target trajectory, but the behavior caused by the lane change of the vehicle is a behavior that causes a feeling different from the feeling of the driver
Solution Approach 1:
The system extracts the trajectory correction function from the driver's intended vehicle behavior. When the vehicle deviates from the target trajectory, the control device independently calculates and applies the necessary corrective steering torque through the steering actuator, rather than forcing the vehicle to respond in a way that contradicts the driver's steering input, thus maintaining consistency between driver intent and vehicle response
Solution Approach 2:
The control device serves as an intermediary that harmonizes the driver's steering operation with the target trajectory requirements. It processes both the driver's steering input and the trajectory deviation, applying corrective torque that achieves accurate lane change execution while preserving the driver's intended vehicle behavior characteristics
Data Source
AI summary
A control device for a vehicle that performs lane change control for automatically changing a lane from a target lane to a target lane by causing the vehicle to travel along a set target trajectory includes a correction processing unit that performs correction processing for moving the target trajectory forward or backward such that, when a lateral position of the vehicle deviates from the target trajectory due to a steering operation of a driver of the vehicle during execution of lane change control, the target lateral position of the target trajectory approaches a current lateral position of the vehicle.