Lane-keeping Control Torque via Adaptive Look-ahead Distance
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Solution Overview
Problem
Conventional lane-keeping control systems experience time delays, leading to potential lane departure failures due to delayed intervention after sensing a lane departure situation.
Innovation Solution
A lane-keeping control system calculates a look-ahead distance based on vehicle and road conditions to anticipate and prevent lane departures by determining the necessary control entry and release boundaries, producing torque to steer the vehicle back onto the lane when necessary, and releasing torque when the vehicle is within the control release boundary.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If conventional lane-keeping control systems wait until lane departure is sensed before conducting control, then the control system operates simply and reliably, but time delay occurs leading to failure in preventing lane departure
Solution Approach 1:
The system calculates look-ahead distance based on vehicle velocity and estimated control entry boundary arrival time, then acquires lane information at this future position. This preliminary action allows the system to detect potential lane departure issues before they occur, enabling proactive control intervention rather than reactive response after lane departure is sensed.
Solution Approach 2:
The system produces auxiliary steering torque based on crosswise error calculated at the look-ahead position to prevent lane departure before it happens. By anticipating the vehicle's trajectory and generating corrective torque in advance, the system counteracts the tendency to depart from the lane before the departure actually occurs, eliminating the time delay inherent in conventional reactive systems.
2Measurement precision
If look-ahead distance is set too long, then lane information can be acquired in advance for better prediction, but the system complexity increases and control precision may decrease
Solution Approach 1:
The look-ahead distance is dynamically adjusted based on vehicle velocity and estimated control entry boundary arrival time rather than being a fixed value. This dynamic adaptation allows the system to optimize the prediction horizon according to current driving conditions, maintaining prediction accuracy while avoiding excessive complexity from fixed long-distance lookahead that would be unnecessary at lower velocities.
Solution Approach 2:
The system changes the look-ahead distance parameter adaptively based on vehicle velocity and road conditions. By modifying this key parameter according to operational context, the system achieves optimal prediction accuracy without requiring complex fixed-structure systems, balancing precision and complexity through parameter adaptation rather than structural complexity.
3Measurement precision
If lane-keeping control is conducted frequently to maintain precise lane position, then lane-keeping precision is improved, but frequent entry and release of control reduces stability
Solution Approach 1:
The system determines control entry boundaries using crosswise error calculated at the look-ahead position rather than current position. This preliminary assessment allows the system to anticipate when control will be needed and plan accordingly, enabling smoother control transitions and reducing frequent entry-release cycles that occur with reactive control systems that only respond after lane departure is detected.
Data Source
AI summary
A Lane-keeping control method and system of a vehicle include an estimated control entry boundary arrival time setting controller for setting an estimated control entry boundary arrival time to arrive at a control entry boundary and a look-ahead distance calculator for calculating a look-ahead distance on the basis of the estimated control entry boundary arrival time and vehicle velocity. A lane-keeping control entry determiner determines whether to enter the lane-keeping control on the basis of the control entry boundary, a lane-keeping control torque producer produces a lane-keeping control torque in a direction opposite to a lane-departure direction whether to enter lane-keeping control, and a torque releasing controller releases the lane-keeping control torque when the vehicle has returned to the inside of a control release boundary after the lane-keeping control torque was produced.