Steering Angle Gain Control for Lane Keeping Stability
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Solution Overview
Problem
Lane keeping assist systems face challenges in minimizing the sense of difference felt by drivers due to steering angle variations and disturbances, particularly when dealing with changes in road gradient and steering system variance, leading to instability and inadequate control.
Innovation Solution
An apparatus that dynamically adjusts the steering angle gain based on error values, applying a smaller gain for smaller errors and a larger gain for increased errors, while incorporating driver intention to enhance system stability through gain regulation and torque determination.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a lane keeping assist system applies a larger steering gain to correct lane deviations, then the lane keeping performance is improved, but the driver feels a stronger sense of difference and discomfort in steering
Solution Approach 1:
The patent applies dynamics by making the steering gain variable rather than fixed. The controller dynamically adjusts the steering gain based on the current steering angle error magnitude - applying larger gain when error is large to improve lane keeping performance, and smaller gain when error is small to reduce driver discomfort. This dynamic adaptation resolves the contradiction between reliable lane keeping and ease of operation.
Solution Approach 2:
The patent changes the parameter of steering gain from a constant value to a variable value that depends on the steering angle error. By adjusting this critical parameter based on system state, the system achieves both strong correction capability when needed and gentle control when the vehicle is near the desired path, thereby resolving the contradiction between performance and comfort.
2Ease of operation
If a lane keeping assist system applies a smaller steering gain to minimize driver discomfort, then the driver steering comfort is improved, but the system becomes more affected by vehicle variance and disturbance
Solution Approach 1:
The system uses dynamic gain adjustment where the steering gain is not fixed but varies with the steering angle error. When the error is large, larger gain is applied to maintain stability against disturbances. When the error is small, smaller gain is applied to ensure driver comfort. This dynamic behavior resolves the contradiction between comfort and stability.
Solution Approach 2:
The steering gain parameter is changed from a static value to a conditional variable that adapts to system state. This parameter change allows the system to maintain stability when needed (larger gain for large errors) while ensuring comfort when appropriate (smaller gain for small errors), resolving the contradiction between reliability and ease of operation.
3Adaptability or versatility
If the steering gain is increased to correct for road gradient changes and steering system variance, then the robustness to disturbance is improved, but the driver feels a stronger sense of difference in steering
Solution Approach 1:
The patent implements dynamic gain scheduling where the steering gain adapts to the magnitude of the steering angle error. This dynamic approach provides strong correction (higher gain) when large deviations occur due to road gradient or system variance, ensuring robustness. When the vehicle is properly aligned (small error), the gain is reduced to minimize driver discomfort, thus resolving the contradiction between adaptability and ease of operation.
Solution Approach 2:
The steering gain parameter is made variable based on the steering angle error magnitude. This parameter change enables the system to provide robust disturbance rejection when necessary (large gain for large errors) while maintaining driver comfort during normal operation (small gain for small errors), thereby resolving the contradiction between versatility and ease of operation.
Data Source
AI summary
An apparatus for controlling a steering angle, a system including the same, and a method thereof are provided may include a steering angle gain variation determination device that determines an increase or a decrease of a steering angle gain variation rate depending on a steering angle error value, a steering angle gain determination device that determines a steering angle gain based on the steering angle gain variation rate, a steering angle gain regulation device that determines a final gain by reflecting a driver intention in a steering angle gain, and a steering torque determination device that determines steering torque by use of the final gain.