Lane-Keeping Steering Angle Compensation for Sensor Error Stability
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Solution Overview
Problem
Existing vehicle steering systems suffer from errors in steering wheel angle sensors, leading to vehicle vibrations and instability, particularly at high speeds, due to the lack of consideration for vehicle and lane characteristics.
Innovation Solution
A method for dynamically calculating offsets based on lane and vehicle characteristics, including conditions such as lane curvature, vehicle position, and driving dynamics, to enhance the stability of advanced driver assist systems by applying these offsets to steering control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a fixed initial offset is applied to steering control angle, then the system is simple to implement, but it cannot adapt to different driving conditions and vehicle states
Solution Approach 1:
The patent implements dynamic offset adjustment by continuously monitoring driving conditions (vehicle speed, steering angle, lane curvature) and modifying the offset value in real-time. The offset is no longer fixed but adapts dynamically to current vehicle state and road conditions, resolving the contradiction between simplicity and adaptability.
Solution Approach 2:
The system changes the offset parameter based on detected driving conditions. When specific conditions are met (e.g., vehicle speed within range, lane curvature within threshold), the offset is adjusted from the initial value. This parameter change approach enables adaptability while maintaining a relatively simple control structure.
2Reliability
If sensor errors are not compensated, then the control system remains simple, but vehicle vibrations occur and stability deteriorates at high speeds
Solution Approach 1:
The patent employs feedback mechanisms where the actual vehicle response is monitored and used to adjust the steering control angle offset. By detecting deviations from expected behavior and compensating through offset adjustment, the system improves reliability and stability without requiring complex hardware modifications.
Solution Approach 2:
The system proactively compensates for known sensor errors by applying offset corrections before they cause significant stability issues. The offset is determined based on predicted error patterns and applied in advance to prevent vibrations and instability, particularly at high speeds.
3Adaptability or versatility
If offset is adjusted frequently to match changing conditions, then adaptability improves, but system stability and reliability may deteriorate
Solution Approach 1:
The patent implements periodic evaluation of driving conditions with offset adjustments occurring only when sustained condition changes are detected. Rather than continuous adjustment, the system evaluates conditions at defined intervals and applies offsets only when appropriate, maintaining both adaptability and stability.
Solution Approach 2:
The system dynamically adjusts the frequency and magnitude of offset changes based on current driving conditions. During stable conditions, offset changes are minimized; during transitioning conditions, adjustments are made more frequently. This dynamic approach balances adaptability with stability.
Data Source
AI summary
The disclosure relates to a steering control angle compensation method for compensating for a steering control angle for lane keeping considering characteristics of a vehicle, and a lane keeping control device.