Vehicle Lateral Acceleration Compensation for Road Cross Slope
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Solution Overview
Problem
Current driver assistance systems for road vehicles face complexity in accurately detecting and compensating for roadway cross slopes due to the need to transform inertial system measurements into roadway-fixed coordinate systems, which complicates the process and requires specialized devices.
Innovation Solution
A method and device that measure transverse acceleration of a vehicle to directly determine the roadway cross slope, allowing for simplified detection and compensation by distinguishing between acceleration caused by driving maneuvers and that caused by the roadway gradient, thereby integrating with existing lane-keeping systems for continuous steering interventions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If lateral acceleration is measured in an inertial frame of reference, then the measurement includes all lateral forces acting on the vehicle, but the measured value cannot be directly used in road-fixed coordinate systems due to camber road surface effects
Solution Approach 1:
The invention extracts and separates the camber-induced lateral acceleration component from the total measured lateral acceleration. By identifying and removing this specific disturbance component, the system obtains the road-fixed coordinate system lateral acceleration without requiring complex coordinate transformations, thus resolving the contradiction between measurement accuracy and device complexity
Solution Approach 2:
The invention introduces an intermediary calculation approach that uses the relationship between lateral acceleration, yaw rate, and vehicle speed to determine the camber component. This intermediary method serves as a bridge between the inertial frame measurement and the road-fixed coordinate system requirement, eliminating the need for direct complex coordinate transformation
2Measurement precision
If coordinate transformation devices are added to convert lateral acceleration from inertial to road-fixed coordinate system, then measurement accuracy in road-fixed system is improved, but device complexity increases
Solution Approach 1:
Instead of adding complex transformation devices, the invention extracts the camber component mathematically from the measured lateral acceleration using the relationship ay,s = ay,maneuver - ay,measurement. This extraction approach achieves road-fixed coordinate accuracy without requiring additional transformation hardware
Solution Approach 2:
The system uses its existing sensors (lateral acceleration sensor, yaw rate sensor, speed sensor) to self-determine the camber component and perform the correction internally. No external transformation devices are needed as the system serves its own coordinate transformation need through intelligent processing of existing data
3Quantity of substance
If existing sensors are used to detect road lateral slope, then additional sensor costs are avoided, but the detection process becomes more complex requiring calculation from multiple parameters
Solution Approach 1:
The invention makes the existing lateral acceleration sensor serve multiple functions: it measures both the total lateral acceleration and, through the proposed calculation method, the camber-induced lateral acceleration. This multi-functionality approach avoids additional sensors while maintaining detection capability, resolving the contradiction between sensor quantity and process complexity
Solution Approach 2:
The system uses feedback from existing sensors (yaw rate, speed, lateral acceleration) to continuously calculate and update the camber component. This feedback mechanism allows the system to adapt to changing driving conditions and accurately determine road lateral slope using only existing sensor data
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This approach simplifies the control of vehicle lane-keeping systems by eliminating the need for complex transformations and allows for rapid compensation of roadway inclinations, enhancing steering comfort and stability without additional sensors.
Implementation Method 1
lateral acceleration is measured using a lateral acceleration sensor. This measurement takes place in an inertial frame of reference
Implementation Method 2
a transformation of the lateral acceleration measured in the inertial system into the road-fixed coordinate system must take place
Data Source
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AI summary
The method involves measuring (S10) lateral acceleration of vehicle traversing a roadway, using a measurement device. The lateral acceleration of the vehicle generated by a driving movement is determined (S20) with a traverse inclination observer. Lateral acceleration applied to the vehicle is determined (S30), where lateral acceleration corresponds to the difference between the measured lateral acceleration and, lateral acceleration generated by driving movement. Independent claims are included for the following: (1) method for compensating lateral acceleration of vehicle; (2) device for detecting lateral acceleration of vehicle; and (3) device for compensating lateral acceleration of vehicle.