Automatic Steering Control Interpolation Trajectory Generation
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Solution Overview
Problem
Automatic steering control systems face difficulties in initiating steering control without a predetermined target trajectory, leading to increased disturbances and abrupt changes in vehicle behavior.
Innovation Solution
An automatic steering control apparatus that includes a coordinate obtaining unit, a subject-vehicle state quantity obtaining unit, a target trajectory determining unit, and a steering controller, which calculates interpolation coordinate points to generate a target trajectory based on the subject-vehicle and target coordinate points, allowing immediate initiation of steering control and reducing abrupt changes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the automatic steering control apparatus waits for a predetermined target trajectory to be established before starting control, then the control accuracy is improved, but the start-up time is increased and abrupt changes in vehicle behavior occur
Solution Approach 1:
The system performs preliminary generation of a target trajectory using the target trajectory generating unit before actual steering control begins. This allows the control system to start immediately with a pre-computed trajectory rather than waiting for trajectory determination, thus reducing start-up time while maintaining control accuracy through subsequent trajectory updates
Solution Approach 2:
The target trajectory generating unit acts as an intermediary component that creates an initial target trajectory based on current vehicle state and road information. This intermediary trajectory serves as a bridge between the absence of a predetermined trajectory and the requirement for accurate control, enabling immediate control initiation
2Loss of time
If the automatic steering control apparatus starts control without a predetermined target trajectory, then the start-up time is reduced, but the control accuracy deteriorates and abrupt changes in vehicle behavior occur
Solution Approach 1:
The system maintains continuous target trajectory generation and updates throughout operation. The target trajectory generating unit continuously computes trajectory points based on current vehicle state, ensuring that control accuracy is maintained over time while allowing immediate start-up with an initially generated trajectory
Solution Approach 2:
The system uses feedback from the vehicle state detecting unit to continuously update the target trajectory. The detected vehicle state (position, speed, orientation) is fed back to the trajectory generating unit, which adjusts the target trajectory accordingly, maintaining control accuracy dynamically as the vehicle moves
Data Source
AI summary
A coordinate obtaining unit of an automatic steering control apparatus obtains a subject-vehicle coordinate point indicating a current position of a subject vehicle, and a target coordinate point indicating a target position of the subject vehicle. A subject-vehicle state quantity obtaining unit obtains a subject-vehicle state quantity indicating a traveling state of the subject vehicle. A target trajectory determining unit calculates an interpolation coordinate point for interpolating between the subject-vehicle coordinate point and the target coordinate point or between a target coordinate point previously obtained and a target coordinate point subsequently obtained, and determines a target trajectory of the subject vehicle based on the interpolation coordinate point. A steering controller controls a steering control device of the subject vehicle so that the subject vehicle travels following the target trajectory, based on the subject-vehicle state quantity and the target trajectory.