Lane-keeping Control Using Yaw Rate Deviation
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Solution Overview
Problem
Existing lane-keeping assistance systems for motor vehicles do not provide optimal behavior in various driving situations, such as straight-ahead driving and cornering, and lack effective control for returning the vehicle to the center of a predefinable track.
Innovation Solution
A method that determines the transverse deviation and misalignment angle of a motor vehicle relative to a target lane centerline, calculates a reference track to return to the centerline, and applies a steering input to minimize the control deviation by comparing the reference yaw rate with the actual yaw rate, while considering the curvature of the reference track and vehicle speed, and only intervening when the vehicle enters a defined intervention zone.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a lane-keeping assistance system provides automatic steering intervention to resolve risk situations, then safety is improved, but the system complexity increases
Solution Approach 1:
The control algorithm is segmented into distinct functional modules: transverse deviation determination, misalignment angle calculation, reference track generation, yaw rate comparison, and steering input application. This modular segmentation allows the complex safety function to be implemented through coordinated simple subsystems, managing system complexity while maintaining high reliability
Solution Approach 2:
The system continuously monitors actual vehicle position and orientation, compares measured values with reference values from the calculated track, and applies corrective steering inputs based on the control deviation. This closed-loop feedback mechanism ensures safety through automatic correction while keeping the control logic systematic and manageable
2Measurement precision
If the system calculates a reference track for optimum return to lane center, then lane-keeping precision is improved, but the computational requirements increase
Solution Approach 1:
The system calculates only the essential parameters needed for lane-keeping (transverse deviation, misalignment angle, and reference track) without computing complete vehicle dynamics models. This partial action approach achieves sufficient lane-keeping precision while minimizing computational energy consumption by focusing only on critical control variables
3Ease of operation
If the system applies steering input based on curvature of reference track and vehicle speed, then driving behavior is improved, but the control complexity increases
Solution Approach 1:
The control system adapts steering inputs by changing key parameters (curvature of reference track and vehicle speed) rather than implementing complex multi-variable optimization. This allows the system to provide natural, comfortable driving behavior across different driving conditions while keeping the control algorithm relatively simple and manageable
Data Source
AI summary
A lane-keeping method and system for a motor vehicle determines a transverse deviation and an misalignment angle of the motor vehicle relative to a target lane centerline, calculates a reference track for the motor vehicle to follow to return to the centerline using the transverse deviation and the misalignment angle, determines a reference yaw rate using a curvature of the reference track and a longitudinal speed of the vehicle, and compares the reference yaw rate with an actual yaw rate of the vehicle to determine a control deviation. A steering input is then applied to a steering system of the motor vehicle to minimize the control deviation.