Lane Keeping Controller Override Torque Reduction
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Solution Overview
Problem
Existing lane keeping controllers fail to prevent vehicles from deviating from the lane during override control, leading to an odd feeling for drivers due to opposing control torques.
Innovation Solution
A lane keeping controller that selectively executes first and second control modes, calculating a target steering angle by combining lane curvature and yaw angle information, and adjusting the steering torque to prioritize driver intent and maintain lane alignment during override control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the lane keeping controller executes first control to calculate target steering angle using lane curvature and yaw angle deviation, then the vehicle can maintain lane alignment, but the control torque opposes the driver's steering torque when the driver intentionally moves the vehicle away from the lane center, causing an odd feeling
Solution Approach 1:
The controller dynamically switches between first control (lane keeping mode) and second control (override mode) based on detection of driver intent. When the driver applies steering torque exceeding a threshold in the direction away from lane center, the system transitions from executing lane keeping control to executing override control, making the control torque smaller or zero to avoid opposing the driver's intentional maneuver
Solution Approach 2:
The controller changes the parameter of control torque magnitude based on the execution mode. During first control, the control torque is calculated to maintain lane alignment using lane curvature and yaw angle deviation. During second control, the control torque is reduced or set to zero to prevent opposing the driver's steering input, thus resolving the contradiction between maintaining lane alignment and avoiding driver discomfort
2Measurement precision
If the control torque is made larger to ensure lane keeping accuracy, then the vehicle maintains better lane alignment, but the opposing torque between control torque and driver steering torque increases, enhancing the odd feeling
Solution Approach 1:
The system dynamically adjusts the control torque magnitude based on the execution mode. During first control, larger control torque is applied to ensure lane keeping accuracy. During second control, when driver override is detected, the control torque is reduced or eliminated, thereby removing the harmful opposing effect while preserving lane keeping accuracy when needed
3Manufacturing precision
If the controller continuously corrects lane curvature and yaw angle deviation to maintain precise lane following, then lane alignment is improved, but the control torque becomes too large when the driver intends to move away from the lane, increasing the conflicting torque
Solution Approach 1:
The controller dynamically adjusts its correction behavior based on execution mode. During first control, the system continuously corrects lane curvature and yaw angle deviation to maintain precise lane following. During second control, when driver override is detected, the system stops or reduces these corrections, thereby reducing the control torque magnitude and eliminating the conflicting force while preserving precision when needed
Data Source
AI summary
A lane keeping controller includes a first initial target steering angle calculator, a second initial target steering angle calculator, and a steering angle calculator. A first arithmetic unit of the first initial target steering angle calculator performs a first arithmetic operation to calculate a first initial target steering angle using a lane curvature so that a vehicle runs along the lane curvature. A second arithmetic unit of the second initial target steering angle calculator performs a second arithmetic operation to calculate a second initial target steering angle using a yaw angle deviation so that a yaw angle to lane agrees with a target yaw angle. During execution of override control, the lane curvature and the yaw angle deviation are not corrected and a target steering angle is made to be small in comparison with that during execution of normal lane keeping control.