Collision-Avoidance Steering Assist Using Yaw Rate Trajectory Control
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Solution Overview
Problem
Existing driver assistance systems often provide inappropriate or excessive assist torque during collision avoidance maneuvers, leading to unintended lane departure or increased collision risk due to variables like avoidance direction, required steering amount, and driver intervention timing.
Innovation Solution
A driver assistance apparatus and method that uses a camera and processor to calculate a target heading angle and lateral position based on a predetermined yaw rate pattern, adjusting assist torque to help the vehicle avoid collisions by predicting collision scenarios and controlling the steering device to maintain a safe trajectory.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If assist torque is provided to assist driver's steering operation for collision avoidance, then steering ease is improved, but vehicle stability deteriorates due to excessive or inappropriate assist torque causing unintended lane departure
Solution Approach 1:
The system dynamically adjusts the assist torque based on real-time detection of driver steering operations. When a collision avoidance maneuver is detected through sudden steering angle changes, the controller provides time-varying assist torque that decreases as the maneuver progresses, ensuring stability while maintaining steering ease during the critical avoidance phase
Solution Approach 2:
The system continuously monitors steering angle, steering angle change rate, and vehicle state to detect collision avoidance intentions. Based on this feedback, the controller adjusts assist torque magnitude and timing, providing assistance only when necessary and reducing it when the maneuver is complete, thereby preventing excessive torque that would cause lane departure
2Ease of operation
If assist torque is increased to assist countersteering operation, then steering ease is improved, but collision risk increases due to greater assist torque causing unintended vehicle movement
Solution Approach 1:
The system provides dynamically adjusted assist torque during countersteering operations based on real-time detection of steering behavior patterns. The assist torque magnitude varies with the detected collision avoidance intention and driver operation characteristics, ensuring adequate assistance for safe countersteering while preventing excessive torque that would cause unintended vehicle movement and collision
Solution Approach 2:
The controller continuously monitors steering angle and steering angle change rate to detect collision avoidance intentions. Based on this feedback, the system adjusts assist torque to match the actual driver need, providing sufficient assistance for safe countersteering while preventing over-assistance that would increase collision risk
Data Source
AI summary
Provided is a driver assistance apparatus, including: a camera mounted on a vehicle and configured to have a field of view facing a front of the vehicle and acquire image data; and a controller including a processor configured to process the image data, wherein the controller is configured to calculate a target heading angle and a target lateral position of the vehicle based on a predetermined yaw rate pattern, and when a driver operates a steering device that steers the vehicle to avoid a collision of the vehicle, control the steering device to assist in steering for avoiding the collision of the vehicle, based on at least one of the image data, the target heading angle or the target lateral position.