Lane-Keeping Steering Control With Driver-Responsive Force Limits
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Solution Overview
Problem
Existing lane keeping assist systems (LKAS) often fail to accurately reflect the driver's intended behavior, particularly when the driver's input force exceeds a certain threshold, leading to improper system intervention and unintended vehicle behavior.
Innovation Solution
A vehicle control device and method that acquires the positional relationship between a vehicle and a lane, performs in-lane travel control by adjusting the actuator's output force within a dynamically adjustable upper limit based on driver input, and adjusts this limit in response to the driver's steering operation, incorporating non-gripping mode control and lane recognition to enhance intention reflection.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the system exerts a force to keep the vehicle in the lane, then lane keeping control is improved, but the driver's intended behavior may not be reflected when the driver's operating force exceeds the system's force limit
Solution Approach 1:
The upper limit of the system's force output is dynamically adjusted based on the driver's operating force. When the driver applies force exceeding the upper limit, the system reduces its force output to reflect the driver's intention to change lanes or avoid obstacles, thereby adapting the control behavior to the driver's needs while maintaining lane keeping reliability during normal operation
Solution Approach 2:
The system changes the force output parameter (upper limit) in response to the driver's operating force. By monitoring the driver's input and adjusting the system's force ceiling accordingly, the system transitions between maintaining strict lane keeping and allowing driver-initiated lane changes, resolving the contradiction between control reliability and adaptability to driver intention
2Power
If the upper limit of system force is set high to ensure lane keeping, then control effectiveness is improved, but the driver's operation may not be reflected when avoiding curves or obstacles
Solution Approach 1:
The upper limit of system force is dynamically adjusted based on the driver's operating force. When the driver applies force exceeding the upper limit, the system reduces its force output to reflect the driver's intention to change lanes or avoid obstacles, thereby adapting the control behavior to the driver's needs while maintaining lane keeping reliability during normal operation
Solution Approach 2:
The system continuously monitors the driver's operating force on the steering wheel and uses this feedback to adjust the upper limit of system force output. This feedback mechanism ensures that when the driver intends to perform maneuvers such as avoiding curves or obstacles, the system responds appropriately by reducing its force output, thereby improving ease of operation while maintaining adequate power during normal lane keeping
Data Source
AI summary
Provided are a vehicle control device, a vehicle control method, and a non-transitory storage medium. The vehicle control device includes: an acquisition part, acquiring a positional relationship between a vehicle and a lane; a control part, performing in-lane travel control that causes an actuator included in a steering device of the vehicle to output a force for causing the vehicle to travel in the lane within a range not exceeding an upper limit based on the positional relationship; and an upper limit adjustment part, changing the upper limit in response to an input to an operator that accepts a steering operation performed by an occupant of the vehicle.