Steering Assistance Control Without Map Data Oversteer
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Solution Overview
Problem
Existing vehicle control systems face challenges in providing appropriate steering assistance when map information is absent or inaccurate, leading to difficulties in limiting steering angle and angular velocity, which can result in uneasy driver experiences and potential events.
Innovation Solution
A vehicle control apparatus equipped with an external environment sensor and an electronic control unit that calculates a target steering angular velocity and limits it when exceeding a predetermined value, while also limiting the steering angle change to prevent excessive lateral movement, ensuring safe and effective steering assistance regardless of map information accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If steering angle and angular velocity are limited based on map information, then steering control can be performed, but appropriate steering assistance cannot be provided when map information is absent or inaccurate
Solution Approach 1:
The patent introduces an intermediary mechanism that uses detected object positions and vehicle dynamics as mediators to replace map information for determining steering limits. The system calculates target steering angular velocity based on the positional relationship between the vehicle and detected objects, rather than relying on pre-stored map data, enabling operation in areas without accurate map information.
Solution Approach 2:
The system performs self-service by using its own sensors to detect external objects and its own vehicle state information to dynamically determine appropriate steering limits. Instead of depending on external map information, the vehicle uses its perception system and real-time state data to autonomously adjust steering assistance parameters suitable for the current environment.
2Productivity
If target steering angular velocity is increased for rapid lane correction, then lane keeping efficiency is improved, but excessive lateral movement causes uneasy driver experience
Solution Approach 1:
The patent applies dynamics by making the target steering angular velocity adaptive rather than fixed. The system dynamically adjusts the target steering angular velocity based on real-time conditions including the distance to detected objects, vehicle speed, and lateral position, allowing rapid correction when safe and gentler adjustment when proximity to objects exists, thereby balancing efficiency and comfort.
Solution Approach 2:
The system implements feedback by continuously monitoring the vehicle's lateral position, detected object positions, and current steering state, then using this information to adjust the target steering angular velocity. This closed-loop control ensures that steering assistance remains effective while preventing excessive lateral movement that would cause driver discomfort or safety issues.
Data Source
AI summary
Vehicle control apparatus includes: external environment sensor configured to detect external environment situation including location of object in surrounding area of vehicle; and electronic control unit including processor and memory coupled to processor. The electronic control unit: recognizes external environment situation of vehicle based on signal from external environment sensor; calculates target steering angular velocity of steering assistance of vehicle based on external environment situation recognized; limits steering assistance by decreasing target steering angular velocity to limited steering angular velocity when duration exceeds predetermined duration, duration being period while target steering angular velocity calculated exceeds predetermined steering angular velocity; and limits steering assistance so that change amount of steering angle of vehicle from start of steering assistance is equal to or smaller than predetermined value.