Vehicle Steering Control Termination for Lane-Aligned Collision Avoidance
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Solution Overview
Problem
Existing vehicle control apparatuses may terminate steering control prematurely, leading to potential collisions with adjacent or oncoming lanes due to delays in image processing for yaw angle determination, causing the vehicle to move out of its intended lane.
Innovation Solution
A vehicle control apparatus with a sensor system and electronic control unit that determines control start and termination conditions based on yaw angle, steering angle, and their rates to ensure the vehicle remains aligned with its lane after steering control is initiated, incorporating additional conditions such as driver input to prevent unwanted lane changes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Loss of time
If steering control is terminated when yaw angle becomes equal to or smaller than a predetermined yaw angle, then the steering control can be terminated in time, but the vehicle may move in a direction toward or opposite to an adjacent lane or oncoming lane causing collision with another object
Solution Approach 1:
The control termination determination unit continuously monitors both yaw angle and steering angle, using feedback from these parameters to determine the appropriate termination timing. This dual-parameter feedback mechanism ensures that steering control is terminated only when both conditions are met, preventing premature termination that could cause lane deviation.
Solution Approach 2:
The system establishes equivalent importance for both yaw angle and steering angle conditions in the termination criteria. By requiring both parameters to satisfy their respective conditions simultaneously, the system creates a balanced termination decision process that prevents collision while avoiding unnecessary continuation of steering control.
2Measurement precision
If image processing is performed to acquire yaw angle from camera images, then the yaw angle can be determined, but it takes certain time to complete image processing causing delay in control termination
Solution Approach 1:
The system performs preliminary acquisition of steering angle data from the steering angle sensor, which is available in real-time without processing delay. This preliminary action allows the system to have one of the two termination conditions ready immediately, reducing the overall time required for termination determination while maintaining accuracy through the combination of both parameters.
3Device complexity
If steering control is terminated based on yaw angle alone, then the control process is simple, but the vehicle orientations of tires may not be parallel with the moving lane causing the vehicle to move out of lane
Solution Approach 1:
The termination determination is segmented into two independent conditions: yaw angle condition and steering angle condition. Each condition is evaluated separately, and both must be satisfied for termination. This segmentation allows the system to maintain simple, clear criteria for each parameter while achieving reliable lane alignment through the combination of both conditions.
Data Source
AI summary
A vehicle control apparatus determines that a control start condition is satisfied when there is an object in an area of a route which the own vehicle moves and executes a steering control of steering the own vehicle to increase a yaw angle of the own vehicle with respect to a moving lane of the own vehicle and decrease the yaw angle to avoid a collision of the own vehicle with the object when determining that control start condition is satisfied. The vehicle control apparatus determines that a control termination condition is satisfied when the yaw angle becomes equal to or smaller than a predetermined yaw angle, and a steering angle of the own vehicle becomes equal to or smaller than a predetermined steering angle after starting steering the own vehicle to decrease the yaw angle in executing the steering control.