Collision-Avoidance Steering Control With Phase-Specific Damping
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Solution Overview
Problem
Existing collision avoidance systems in vehicles face issues with steering angle control, where damping torque applied during both first and second steering controls either leads to insufficient steering angle in the first control, failing to avoid obstacles effectively, or results in overshoots during the second control due to excessive steering angle, causing the vehicle to deviate from its lane.
Innovation Solution
A driving assistance device and method that executes first incremental steering to avoid collisions and second decremental steering to maintain lane position, with damping control applied only during the second steering control to prevent overshoots by calculating and applying a steering resistive force based on steering angle speed, thereby avoiding its application during the first control to prevent steering angle deficiencies.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If damping torque is applied during both first steering control and second steering control, then overshoot in second steering control is suppressed, but steering angle becomes insufficient in first steering control causing failure to avoid collision
Solution Approach 1:
The patent segments the steering control into two distinct phases: first steering control (incremental) and second steering control (decremental). Damping torque is selectively applied only during the second steering control phase, not during the first phase. This segmentation allows the system to maintain sufficient steering angle during collision avoidance while suppressing overshoot during lane maintenance, resolving the contradiction between stability and reliability.
2Stability of the object's composition
If damping torque is applied to decremental steering only, then steering angle excess in second steering control is suppressed, but damping torque cannot be applied to incremental steering in second steering control
Solution Approach 1:
The patent implements dynamic damping control where the damping torque coefficient is adjusted based on the steering control phase. During incremental steering (first control), damping is not applied. During decremental steering (second control), damping is actively applied. This dynamic adjustment provides both precise control during lane maintenance and full adaptability during collision avoidance maneuvers.
3Reliability
If incremental steering is executed to avoid collision, then collision avoidance is achieved, but steering angle excess causes vehicle deviation from traveling lane
Solution Approach 1:
The patent employs periodic action through two distinct steering control phases: first incremental steering control for collision avoidance, followed by second decremental steering control for lane maintenance. The system transitions between these phases based on collision risk assessment, enabling effective collision avoidance while preventing lane deviation through structured periodic control actions.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This approach effectively suppresses steering angle deficiencies in the first control and overshoots in the second control, ensuring the vehicle avoids collisions and stays within its lane without compromising responsiveness.
Implementation Method 1
a damping control unit (10, 60) configured to execute damping control of calculating a steering resistive force based on a steering angle speed (dθs/dt) during the execution of the collision avoidance control, and applying the calculated steering resistive force to the steered wheel
Data Source
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AI summary
A driving assistance device executes collision avoidance control of controlling a steering angle (θs) so that an own vehicle (100) travels along a target trajectory (Rt) which enables the own vehicle (100) to avoid collision with an obstacle (OB) without deviating from a traveling lane (LA1). The driving assistance device includes: a steering control unit which executes, in order to avoid the collision, first steering control of increasing the steering angle (θs), and executes second steering control of reducing the steering angle (θs) in order to prevent the deviation from the traveling lane (LA1); and a damping control unit which executes damping control of applying a steering resistive force calculated based on a steering angle speed (dθs/dt) to a steered wheel. The damping control unit executes the damping control during the execution of the second steering control.