Lane Holding Control with Driver Torque Integration
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Solution Overview
Problem
Traditional Lane Keeping Aid (LKA) systems lack interaction with drivers in situations where they want to position their vehicle off-center within a lane, such as on wide roads, with longitudinal ruts, or during lane changes, leading to driver dissatisfaction as the LKA often needs to be turned off.
Innovation Solution
A system and method that combines traditional LKA information with driver input to allow mixed control of vehicle lane positioning, using on-board vision, lidar, radar, and GPS systems to identify vehicle position and calculate a target vehicle path, while also considering driver-applied torque to control the vehicle's lateral state, enabling continuous control of lane position within or outside the lane center.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If traditional LKA system continuously guides the vehicle to the center of the lane, then the vehicle maintains proper lane positioning, but the driver cannot position the vehicle off-center when needed (e.g., wide lanes, longitudinal ruts, lane changes)
Solution Approach 1:
The system dynamically adjusts the level of LKA intervention based on detected driver intent. When driver torque indicates a desire to position the vehicle off-center, the system transitions from active lane-centering guidance to a mode that allows driver-initiated positioning, enabling flexible adaptation to different driving situations such as wide lanes, longitudinal ruts, or lane changes
Solution Approach 2:
The system continuously monitors driver torque on the steering wheel as feedback signal. This feedback mechanism allows the LKA system to detect when the driver intends to deviate from the centered lane position and accordingly adjusts its control behavior, permitting the driver to position the vehicle where desired while maintaining safety oversight
2Adaptability or versatility
If LKA system requires driver to turn off the function for lane changes, then lane changes can be performed, but the driver experience is degraded and continuous control is lost
Solution Approach 1:
The system performs preliminary detection of driver intent through steering torque analysis before a lane change is initiated. When the system detects that the driver intends to change lanes (through sustained torque application in the desired direction), it proactively adjusts its control mode to permit the lane change while maintaining continuous assistance, eliminating the need for the driver to manually disable the function
3Adaptability or versatility
If LKA system provides continuous lane centering guidance, then the vehicle stays centered in the lane, but the driver cannot avoid longitudinal ruts or position the vehicle to one side when desired
Solution Approach 1:
The system dynamically adapts its lane-keeping behavior based on detected driver intent. When the driver applies torque to position the vehicle away from the center (to avoid longitudinal ruts or for other reasons), the system transitions from enforcing center positioning to allowing and supporting the driver's desired position, thereby providing adaptability to various road conditions and driver preferences while maintaining reliable lane keeping
Data Source
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AI summary
The present invention relates to a method for controlling vehicle lane holding for a vehicle with an electric power assisted steering by means of a steering system (100) with a steering assistance actuator and one or more controllable vehicle state actuators comprising measurement of at least one vehicle position input signal with using an on-board vision system for determination of a relative vehicle lane position in the form of a lateral lane position, a heading angle and a lane curvature, transformation of the relative vehicle lane position to a target yaw and/or lateral vehicle state, measuring at least one steering input signal, determination from said one or more measured steering input signals a torque value applied by the driver via a steering wheel (120), transformation of said torque value to a relative to the afore-mentioned target yaw and/or lateral vehicle state a driver target relative yaw and/or lateral vehicle state, adding said target yaw and/or lateral vehicle state and said driver target relative yaw and/or lateral vehicle state together, and using the resulting yaw and/or lateral vehicle state as a reference signal to one or more controllers for the mentioned control of the one or more vehicle state actuators.