Lane Keeping Torque Profile for Heavy Vehicle Cornering
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Solution Overview
Problem
Existing lane keeping assistance systems for vehicles, particularly heavy vehicles, face challenges in maintaining position during cornering, leading to increased difficulty and safety risks due to the high precision required.
Innovation Solution
A method and system that provide a torque profile for steering based on vehicle and lane characteristics, allowing for three different lateral positions on the lane, enabling the driver to choose or the system to automatically select the most suitable position, improving flexibility and safety by considering vehicle length, width, articulation angle, lane width, curvature, and surrounding conditions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a standard torque profile (bathtub or v-shape) is used for lane keeping assistance, then the system is simple to implement, but it becomes very difficult or impossible to keep the entire heavy vehicle inside its own lane during cornering
Solution Approach 1:
The torque profile is segmented into three distinct portions (first, second, and third portions) corresponding to different lateral positions of the vehicle on the lane. Each portion has different torque characteristics tailored to specific driving scenarios, allowing the system to provide appropriate assistance for straight driving, gentle cornering, and sharp cornering situations.
Solution Approach 2:
The system dynamically selects which torque profile portion to apply based on real-time detection of the vehicle's lateral position, lane curvature, and driving conditions. This dynamic adaptation enables the torque profile to change continuously according to the vehicle's state and environmental factors, improving lane keeping reliability during cornering.
2Extent of automation
If the system automatically chooses the lateral position, then road safety is improved by reducing driver focus requirements, but the driver loses control over the decision of the most suitable position
Solution Approach 1:
The lane keeping assistance system is designed to perform multiple functions: it can automatically select the most suitable lateral position based on detected parameters, or it can allow the driver to manually choose the position. This multi-functionality enables the system to adapt to different driver preferences and situational requirements, balancing automation with driver control.
3Stability of the object's composition
If torque is added in a continuous fashion (v-shape profile), then the vehicle tends to stay in the centre of the lane, but this makes it very difficult to keep the entire heavy vehicle inside its own lane when cornering
Solution Approach 1:
Different portions of the torque profile are designed with different torque characteristics suited to specific lateral positions and driving conditions. The first portion provides torque for maintaining position in one region, the second portion for another region, and the third portion for yet another region. This local optimization allows the system to provide appropriate torque characteristics for both stability during straight driving and adaptability during cornering.
Data Source
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AI summary
The present invention relates to a method for lane keeping assistance for a vehicle (1, 1a) comprising the steps of: detecting (S1) the lane (L1); and controlling (S2) the torque for steering said vehicle during driving of said vehicle so as to follow said lane in a desired way, comprising the step of: providing (S3) a torque profile (TP) for said control based upon vehicle characteristics and lane characteristics, said torque profile (TP) specifying a vehicle lateral position (P1, P2, P3) on said lane (L1). The present invention also relates to a system for lane keeping assistance for a vehicle. The present invention also relates to a motor vehicle. The present invention also relates to a computer program and a computer program product.