Lane-Keeping Steering Control for Smooth Driver-Led Lane Changes
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Solution Overview
Problem
Existing lane maintenance control systems interrupt lane maintenance control when lane changing, leading to increased operational demands and driver discomfort due to sudden changes in target steering angles during manual intervention.
Innovation Solution
A traveling control apparatus that allows lane changing through driver steering intervention while continuing lane maintenance control, using an electronic control unit to set a target trace, determine a target steering angle, and apply control torque, with a gradual changing function to smooth the transition into an adjacent lane, preventing sudden changes in the target steering angle.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If lane maintenance control is interrupted during lane changing, then the lane changing control can be executed, but the number of operations for resuming lane maintenance control increases and driver comfort deteriorates
Solution Approach 1:
The lane maintenance control is not interrupted but continues to operate during lane changing. The control apparatus determines that the vehicle has entered the adjacent lane based on lateral position detection, and only then switches the target trace, allowing the lane maintenance control to operate continuously without interruption while still enabling automatic lane changing functionality.
Solution Approach 2:
The target trace is dynamically switched based on the vehicle's lateral position. The control apparatus continuously monitors the lateral position and determines lane entry timing, dynamically adjusting the target trace from the original lane to the adjacent lane without interrupting the overall control flow, thereby adapting the system behavior to the current driving state.
2Adaptability or versatility
If lane changing is executed by driver's manual intervention while continuing lane maintenance control, then the lane changing can be performed, but the change in target steering angle becomes large causing driver discomfort
Solution Approach 1:
The control apparatus determines the timing of vehicle entry into the adjacent lane in advance by monitoring lateral position, and prepares to switch the target trace at the appropriate moment. This preliminary detection and determination allows the system to smoothly transition the target steering angle rather than making sudden large changes, reducing driver discomfort.
Solution Approach 2:
The control apparatus continuously acquires the lateral position of the vehicle and uses this feedback to determine when the vehicle has entered the adjacent lane. Based on this real-time feedback, the system switches the target trace and adjusts the target steering angle appropriately, ensuring smooth transitions that maintain driver comfort during semi-automatic lane changing.
Data Source
AI summary
A traveling control apparatus that allows lane changing due to a driver's steering intervention while continuing lane maintenance control includes an electronic control unit. The electronic control unit sets a target trace along a lane in which a vehicle is traveling, determines a target steering angle of the vehicle based on the target trace and a lateral position of the vehicle, applies control torque to a steering shaft of the vehicle based on the target steering angle, resets, in response to a change in the lateral position due to the driver's steering intervention which exceeds the control torque and entrance of the vehicle into an adjacent lane, the target trace to the adjacent lane, and determines, using a gradual changing function, in response to the resetting of the target trace, the target steering angle by changing the target steering angle at the time of the resetting.