Adaptive Lane Deviation Suppression via Dynamic Trajectory Recalculation
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Solution Overview
Problem
Existing lane deviation suppressing control systems lack the ability to generate target trajectories that effectively correspond to various vehicle deviation situations, requiring both stability in torque output and robustness for feedback control.
Innovation Solution
A lane deviation suppressing system that calculates and recalcules target trajectories using polynomials of fifth or higher order with respect to time, adjusting based on vehicle state conditions such as deviation direction, obstruction presence, and steering behavior, and employing a combination of feedforward and feedback control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a fixed target trajectory is generated for lane deviation suppression, then the control system is simple to implement, but it cannot adapt to various vehicle deviation situations and lacks robustness
Solution Approach 1:
The patent implements dynamic target trajectory generation by continuously monitoring vehicle deviation state and recalculating the target trajectory based on current deviation distance and direction. The control system transitions from a static fixed trajectory to a dynamic adaptive trajectory that changes in real-time according to vehicle state, resolving the contradiction between adaptability and complexity.
Solution Approach 2:
The patent employs feedback control by detecting the vehicle's actual position relative to the lane, comparing it with the target trajectory, and using the deviation information to recalculate and adjust the target trajectory. This closed-loop feedback mechanism enables the system to adapt to various deviation situations while maintaining manageable complexity through systematic control algorithms.
2Stability of the object's composition
If high-order polynomials are used for target trajectory calculation, then the trajectory smoothness and control stability are improved, but the calculation complexity increases
Solution Approach 1:
The patent uses high-order polynomials ( fifth order or higher) to represent the target trajectory, where the polynomial coefficients are dynamically adjusted based on vehicle deviation parameters. This parameter change approach allows the system to maintain smooth and stable torque output through mathematical optimization while managing calculation complexity through efficient coefficient determination methods.
Solution Approach 2:
The patent replaces complex mechanical control adjustments with mathematical polynomial calculations. By using high-order polynomials to define the target trajectory, the system achieves smooth torque output and stable control through computational methods rather than mechanical means, improving stability while keeping the system manageable through software implementation.
3Speed
If the target trajectory is frequently recalculated to adapt to changing conditions, then the responsiveness to vehicle state changes is improved, but the computational load and processing time increase
Solution Approach 1:
The patent implements periodic recalculation of the target trajectory at predetermined time intervals or when specific deviation thresholds are reached. This periodic action approach balances responsiveness to vehicle state changes with computational efficiency, allowing the system to update the target trajectory frequently enough to maintain adaptability while avoiding excessive computational load from continuous recalculation.
Data Source
AI summary
A lane-deviation-suppressing-system (1) sets a target point in front of a lane when a vehicle travels, and calculates, as a target trajectory, an trajectory causing the vehicle to travel to the set target trajectory, using a polynomial of fifth-order with respect to time. Then, the system judges that a recalculation of the target trajectory is necessary if the vehicle traveling along the target trajectory returns to the target point after separating from the target point in an orthogonal direction to an extending direction of the lane. If the system judges that the recalculation of the target trajectory is necessary, it recalculates that. For calculating the target trajectory, depending on a vehicle traveling state, the system selects a fifth or higher order polynomial or a polynomial of first-order with respect to time. If using the first-order polynomial, it is used by calculating a lateral speed at which the vehicle moves in the orthogonal direction.