Steering Control Apparatus Using Angular Velocity Feedback
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Solution Overview
Problem
Existing vehicle steering assist systems struggle to accurately maintain the vehicle's path when predicted disturbances, such as crosswinds, differ from actual measurements, leading to inadequate steering control.
Innovation Solution
A driving control apparatus that includes sensors to detect steering angular velocity and a microprocessor to calculate a compensated steering angle quantity based on the vehicle's curvature, lane deviation, and steering angular velocity, controlling the steering actuator to maintain the vehicle on a target path.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If steering is assisted based on prediction of disturbance occurrence, then steering accuracy can be improved under predicted conditions, but steering accuracy deteriorates when actual disturbance differs from prediction
Solution Approach 1:
The system continuously monitors actual steering angular velocity and lane deviation, then feeds this information back to adjust the steering angle quantity. This closed-loop feedback mechanism ensures that steering control remains accurate even when disturbance predictions differ from actual conditions, resolving the contradiction between prediction-based improvement and reliability under varying conditions.
Solution Approach 2:
The steering control system dynamically adjusts the steering angle quantity based on real-time detected steering angular velocity and current lane deviation, rather than relying solely on predetermined disturbance models. This dynamic adaptation allows the system to maintain steering accuracy across different disturbance scenarios, improving both precision and reliability.
2Measurement precision
If the allowable error with respect to the target route is reduced to improve accuracy, then lane-keeping precision is improved, but the system becomes more sensitive to disturbance prediction errors
Solution Approach 1:
By implementing feedback based on actual steering angular velocity and lane deviation, the system can maintain tight lane-keeping control while automatically adapting to different disturbance conditions. The feedback loop detects when prediction errors occur and adjusts the steering correction accordingly, preserving precision without sacrificing adaptability.
Solution Approach 2:
The system changes the steering angle quantity parameter dynamically based on detected steering angular velocity and lane deviation, rather than using a fixed allowable error margin. This parameter adjustment allows the system to maintain high lane-keeping precision while adapting to varying disturbance conditions, resolving the contradiction between precision and adaptability.
3Measurement precision
If compensated steering angle quantity is calculated based on multiple parameters including steering angular velocity, then steering control accuracy is improved, but calculation complexity increases
Solution Approach 1:
The system uses the vehicle's own steering angular velocity sensor data and lane deviation measurements to automatically calculate the compensated steering angle quantity. This self-service approach improves steering control accuracy using readily available vehicle data, avoiding the need for complex external sensing systems while maintaining high precision.
Solution Approach 2:
The calculation complexity is managed by focusing on changing only the necessary parameters (steering angle quantity) based on detected steering angular velocity and lane deviation, rather than recalculating entire disturbance models. This selective parameter adjustment improves steering control accuracy while keeping the computational burden manageable.
Data Source
AI summary
A driving control apparatus includes: a sensor configured to detect a steering angular velocity; and a microprocessor. The microprocessor is configured to perform: generating a target path of a subject vehicle controlling a steering actuator of the subject vehicle to travel following the target path; and recognizing a position of the subject vehicle. The microprocessor is configured to perform the controlling including calculating a compensated steering angle quantity necessary for maintaining a driving state in which the subject vehicle travels while following the target path, based on a curvature of the target path, a deviation amount in a lane width direction between the position of the subject vehicle and the target path, and the steering angular velocity detected by the sensor, and also controlling the steering actuator based on the compensated steering angle quantity.