Vehicle Lateral Steering Compensation for Accurate Path Tracking
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing lateral control algorithms for autonomous vehicles face issues with insufficient steering response accuracy due to factors like small-angle execution inaccuracies and structural gaps in the steering system, leading to periodic adjustments and wriggling phenomena.
Innovation Solution
A method and apparatus for lateral control that determine a target steering wheel rotation angle based on a vehicle's trajectory and pose, with compensation using a proportional derivative control strategy to align the actual steering angle with the target, thereby improving steering response accuracy and stability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If traditional lateral control algorithms are used, then the control system is simple, but steering response accuracy is insufficient due to small-angle execution inaccuracies and structural gaps
Solution Approach 1:
The patent implements feedback control by continuously monitoring the actual steering angle and comparing it with the target steering angle. The controller adjusts the steering wheel rotation angle based on the deviation between actual and target values, ensuring accurate path tracking despite small-angle execution inaccuracies and structural gaps in the steering system.
Solution Approach 2:
The patent dynamically adjusts control parameters including steering wheel rotation angle, yaw velocity, and their derivatives based on real-time vehicle state. By changing these parameters adaptively according to the deviation from target trajectory, the system achieves high steering response accuracy without requiring overly complex mechanical structures.
2Measurement precision
If steering control is adjusted frequently to correct path deviations, then path tracking precision improves, but wriggling phenomena and vehicle instability occur
Solution Approach 1:
The patent uses feedback control with proportional and derivative terms to balance path tracking precision and vehicle stability. The proportional term responds to current deviation, while the derivative term dampens oscillations by considering the rate of change. This feedback mechanism allows frequent adjustments when needed while preventing wriggling phenomena through adaptive damping.
Solution Approach 2:
The patent implements dynamic control by continuously adjusting the steering wheel rotation angle based on real-time vehicle state and target trajectory. The controller adapts the control strength and frequency dynamically, applying stronger corrections when deviation is large and reducing adjustment intensity when approaching the target, thereby maintaining both precision and stability.
3Measurement precision
If proportional derivative control strategy is applied, then steering response accuracy improves, but control system complexity increases
Solution Approach 1:
The patent implements proportional derivative control by calculating both the current deviation (proportional term) and the rate of change of deviation (derivative term). The controller combines these two feedback signals to determine the steering wheel rotation angle adjustment, achieving high steering response accuracy through a systematic yet computationally efficient control strategy.
Solution Approach 2:
The patent adjusts control parameters including proportional gain, derivative gain, and steering wheel rotation angle based on real-time vehicle state and target trajectory. By dynamically changing these parameters adaptively, the system achieves high precision steering control without requiring complex hardware modifications, maintaining relatively simple control system architecture.
Data Source
Figure 1
Figure 2
Figure 3
AI summary
The disclosure relates to a method and apparatus for lateral control of a vehicle and a storage medium in the field of automatic driving. The method includes: determining (S11) a target steering wheel rotation angle based on a target trajectory of the vehicle and a vehicle pose; determining (S12) a steering wheel rotation angle compensation according to the target steering wheel rotation angle and steering data of the vehicle; and controlling (S13) steering of the vehicle according to the target steering wheel rotation angle and the steering wheel rotation angle compensation, such that an actual steering angle of the vehicle is consistent with the target steering wheel rotation angle.