Vehicle Lane Control Using Dual Preview Steering Compensation
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Solution Overview
Problem
Existing lane control systems for vehicles lack robustness and simplicity in adjusting to dynamic driving conditions, particularly in simulating driver knowledge and compensating for vehicle behavior time lags.
Innovation Solution
A lane controller comprising a detection device, output device, and computing device that determines a steering wheel angle by combining a target angle with course angle deviation, using two proportional components and adjustable preview times to simulate driver reaction and vehicle performance, allowing for simple parameterization.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If complex control algorithms are used to simulate driver knowledge and compensate for vehicle behavior time lags, then control quality improves, but device complexity increases
Solution Approach 1:
The controller segments the control task into two distinct proportional components: one handling target angle compensation and another handling course angle deviation compensation. Each component operates with its own preview time parameter, dividing the complex control problem into manageable parts that can be processed independently yet contribute to overall robust lane control.
Solution Approach 2:
The controller uses adjustable preview time parameters (first preview time and second preview time) to compensate for vehicle behavior time lags and simulate driver knowledge. By changing these temporal parameters, the system adapts to different driving conditions and vehicle dynamics without requiring complex algorithmic changes.
2Reliability
If multiple parameters are used to achieve robust lane control, then control quality improves, but ease of operation deteriorates
Solution Approach 1:
The controller achieves robust lane control with only two proportional components, making the system universally applicable across different driving scenarios. The dual-preview-time mechanism handles multiple functions including time lag compensation, driver behavior simulation, and adaptive control, eliminating the need for numerous specialized parameters.
Solution Approach 2:
The system uses two adjustable preview time parameters that can be easily configured to adapt to different vehicle types and driving conditions. This simple parameterization approach maintains ease of operation while achieving robust control through temporal parameter adjustment rather than complex structural changes.
3Device complexity
If traditional lane control methods are used, then device complexity remains low, but ability to compensate for time lags and simulate driver knowledge deteriorates
Solution Approach 1:
The controller performs preliminary action by using preview time parameters to anticipate future vehicle states and driver reactions. The first preview time compensates for vehicle behavior time lags by looking ahead to where the vehicle will be, while the second preview time simulates driver knowledge by anticipating driver responses, both executed before the actual control action is needed.
Solution Approach 2:
The controller implements feedback mechanisms by continuously monitoring course angle deviation and target angle differences, then adjusting steering commands accordingly. The proportional components provide continuous feedback-based correction, enabling the simple controller structure to adapt to dynamic conditions and simulate driver-like behavior.
Data Source
AI summary
Apparatus for controlling dynamics of a vehicle determines a current course angle (α) of the vehicle. A desired course angle (αpsi) is defined and assigned to a first point on a temporal profile of a desired driving line. The first point is on the desired driving line at a first preview time from a location assigned to an instantaneous vehicle position. A course angle deviation of the current course angle (α) from the desired course angle (αpsi) is determined. A target angle (αta) is defined and assigned to a second point on the temporal profile of the desired driving line. The second point is on the desired driving line at a distance of a second preview time from the location. A steering wheel angle (δ) is determined as a total of the target angle (αta) reinforced with a first parameter and the course angle deviation reinforced with a second parameter.