Vehicle Lateral Position Control with Adaptive Steering Gain
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Solution Overview
Problem
Existing vehicle lateral position regulation methods are inadequate when the vehicle's state or external conditions change, leading to suboptimal steering angle calculations and passenger discomfort due to late or insufficient corrective movements.
Innovation Solution
A method that calculates a steering angle setpoint comprising an open-loop and closed-loop component, where the open-loop component is weighted by a gain that decreases with sighting distance, and the closed-loop component corrects deviations from a reference trajectory without requiring vehicle state or external condition sensors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If vehicle state sensors are used to adapt control law, then regulation quality improves under varying conditions, but device complexity and implementation complexity increase
Solution Approach 1:
The system uses the vehicle's existing onboard sensors (camera, radar, LIDAR) to perform dual functions: detecting external environment and inferring vehicle state parameters. The detection means processes visual information to calculate lateral position, lateral velocity, and lateral acceleration without requiring dedicated vehicle state sensors, making the system self-sufficient using available resources.
Solution Approach 2:
The onboard detection means is made multi-functional by using it for both environmental perception and vehicle state estimation. The same camera system that detects lane markings and obstacles also provides data for calculating lateral dynamics parameters, eliminating the need for separate sensor systems and reducing overall device complexity.
2Ease of manufacture
If traditional control methods are used, then implementation is simpler, but regulation quality deteriorates when vehicle load or external conditions change
Solution Approach 1:
The control law parameters are dynamically adjusted based on real-time calculation of vehicle lateral acceleration and other state parameters derived from detection means data. The controller adapts gain values and control characteristics according to calculated vehicle state, enabling effective regulation across different loading conditions and external environments without complex hardware modifications.
3Device complexity
If open-loop control is used, then control law is simpler, but corrective movements are late or insufficient when conditions change
Solution Approach 1:
The system implements feedback control by continuously calculating vehicle lateral position, lateral velocity, and lateral acceleration from detection means data, comparing these with desired values, and adjusting steering commands accordingly. The calculated lateral acceleration serves as a feedback parameter that enables the controller to detect and respond to changing vehicle states and external conditions in real-time.
Solution Approach 2:
The system calculates future lateral acceleration based on current detection data and vehicle dynamics models to predict upcoming deviations from the reference trajectory. This allows the controller to prepare corrective steering actions in advance, improving responsiveness and reducing the lag between condition changes and corrective movements.
Data Source
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AI summary
The invention relates to a method for controlling the lateral position of a motor vehicle (1), characterised in that it comprises: - a step (E41) of calculating a viewing distance (L) of a detection means (8) installed in the vehicle (1), - a step (E5) of calculating a first component (FFD) of a steering angle setpoint (δc) of steered wheels (2f) of the vehicle (1), the first component (FFD) being an open loop component of a control system, the first component (FFD) being weighted by a gain (G), the gain (G) being a decreasing function of the viewing distance (L), - a step (E6) of calculating a second component (FBK) of the steering angle setpoint (δc), the second component (FBK) being a closed loop component of the control system.