Predictive Vehicle Motion Control for Stability Limits in Tight Turns
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Solution Overview
Problem
Current driver assistance systems, such as ESP, struggle to anticipate and prevent vehicle stability limit violations in fully automated driving scenarios, particularly in tight turns where speed exceeds safe limits, leading to potential instability and safety risks.
Innovation Solution
A device that integrates a prediction model using onboard sensors and road layout information to forecast future vehicle states, detecting potential violations of driving limits and triggering anticipatory corrective actions like braking or steering adjustments before reaching stability thresholds.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If driver assistance systems like ESP are implemented in vehicles with fully automated driving, then the system operates continuously in linear region, but the performance decreases when vehicle approaches stability limits
Solution Approach 1:
The prediction model forecasts future vehicle states and detects potential stability limit violations before they occur. By performing preliminary detection of dangerous situations, the system can trigger anticipatory corrective actions rather than reacting after stability is already compromised, thus maintaining reliability in fully automated driving mode
2Ease of operation
If lane keeping system controls vehicle trajectory in autonomous mode, then the vehicle follows detected lane boundaries, but the vehicle may exceed maximum speed for tight turns without timely correction
Solution Approach 1:
The system predicts future vehicle states including position, speed, and trajectory. By detecting potential violations of driving limit values before they occur, the system can anticipate dangerous situations such as excessive speed in tight turns and trigger corrective actions in advance, maintaining both autonomous operation and vehicle stability
3Reliability
If ESP system corrects trajectory through torque and braking commands, then the vehicle returns to desired trajectory, but the correction may be too late when vehicle is already unstable
Solution Approach 1:
By predicting future vehicle states and detecting potential stability limit violations before they occur, the system triggers corrective actions in advance rather than reacting after instability begins. This preliminary detection and anticipatory correction eliminates the time delay associated with reactive ESP intervention
Solution Approach 2:
The system applies counter-actions before harmful effects occur by predicting future states that would violate stability limits and triggering corrective braking or steering commands in advance. This preliminary anti-action prevents the vehicle from reaching unstable states rather than correcting after deviation occurs
Data Source
AI summary
A device for controlling the movement of a motor vehicle, including a longitudinal controller and a lateral controller which are capable of generating, from first information relating to the road layout and second information relating to the dynamic behaviour of the vehicle, control commands intended for actuators for controlling the longitudinal and lateral movement of the vehicle. The device includes a prediction model which is supplied with the first and second information and is capable of determining future states of the vehicle for future positions of the vehicle over a plurality of iterations defining a future road portion. The model is connected to a module for determining whether driving limit values are violated, which module is capable of determining, for each future state, whether one of the state variables defining the future state reaches or exceeds a driving limit value, and of deducing a future risk situation.