Vehicle Lane Keeping Controller Gain Adjustment for Hunting Suppression
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
The existing lane keeping control systems for vehicles experience hunting (oscillation of vehicle trajectory) due to sensitive steering response over time, caused by degradation of friction in the rack and pinion gear, leading to unstable travel.
Innovation Solution
A lane keeping control apparatus that includes a controller configured to set a target path for the vehicle, calculate a control amount for the electric power steering motor based on deviation, and adjust the gain of the motor current to match a set response speed, thereby stabilizing the vehicle's trajectory by correcting the feedback gain in real-time.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If friction in the rack and pinion gear degrades over time, then steering response becomes overly sensitive, but vehicle trajectory becomes unstable due to hunting oscillation
Solution Approach 1:
The control device continuously monitors the actual steering angle and compares it with the target steering angle, using the deviation information to adjust the power steering motor output in real-time, thereby suppressing trajectory oscillation
Solution Approach 2:
The system dynamically adjusts the gain parameter of the power steering motor based on the deviation between actual and target steering angles, changing the control parameter to match the varying friction conditions and maintain stable trajectory
2Speed
If the gain of power steering motor is increased to improve response speed, then steering responsiveness improves, but trajectory oscillation worsens
Solution Approach 1:
The gain parameter is made dynamic rather than fixed, adjusting in real-time based on the deviation between actual and target steering angles, allowing the system to optimize both response speed and trajectory stability under varying conditions
Solution Approach 2:
The system changes the gain parameter of the power steering motor based on operational conditions and deviation magnitude, transforming a static parameter into a variable one that adapts to maintain optimal performance
Data Source
AI summary
A lane keeping control apparatus for a vehicle includes a controller. The controller is configured to set a target path on which the vehicle is to travel, calculate a control amount for an electric power steering motor, on a basis of at least an amount of deviation from the target path, control the vehicle such that the vehicle travels on the target path. The controller is configured to compare a response speed of an actual steering angle of the vehicle relative to a target steering angle for travelling on the target path and a set response speed, determine a gain of a current value for driving the electric power steering motor such that the response speed is equal to the set response speed, and update the determined gain.