Vehicle Steering Control Using Past Lateral Deviation Feedback
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Solution Overview
Problem
Existing vehicle control systems require pre-stored data correlating cross slopes of roads with road curvatures to calculate steering amounts, limiting their ability to function without this specific data.
Innovation Solution
A vehicle control apparatus that calculates steering amounts by acquiring vehicle position and lateral deviation data, using a steering amount calculation unit to feed back past lateral deviation information for correction, allowing for accurate steering without pre-stored cross slope and curvature data.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If pre-stored cross slope and curvature data is used to calculate steering amount, then steering control can be performed, but the system requires specific pre-stored data which limits its functionality
Solution Approach 1:
The vehicle control apparatus uses its own past lateral deviation data stored in the storage section to calculate steering amounts for upcoming positions. The system serves itself by utilizing its own historical performance data rather than requiring external pre-stored cross slope and curvature data, thereby achieving steering control functionality without the need for specific pre-stored road characteristic data
Solution Approach 2:
The system stores lateral deviation data at various vehicle positions in advance in the storage section. When the vehicle reaches a new position, the steering amount calculation unit retrieves and uses this previously stored lateral deviation data to calculate the steering amount, enabling proactive steering control based on historical performance rather than requiring pre-stored road characteristic data
2Measurement precision
If feedback of past lateral deviation is used to calculate steering amount, then accurate steering can be achieved without pre-stored data, but the system requires a storage section to store lateral deviation information
Solution Approach 1:
The storage section performs multiple functions: it stores lateral deviation data for feedback control, stores position information, and provides data for calculating steering amounts at various future positions. By making the storage section multi-functional, the system achieves accurate steering control without requiring separate pre-stored cross slope and curvature data, thereby improving measurement precision while managing device complexity through functional integration
Data Source
AI summary
A vehicle control apparatus includes a steering amount calculation unit which calculates a steering amount for decreasing a lateral deviation of a vehicle with respect to a target route, a vehicle position acquisition unit which acquires a position of the vehicle, and a past information acquisition unit which acquires the lateral deviation, which is related to the position of the vehicle acquired by the vehicle position acquisition unit or a position ahead of the position of the vehicle, from a storage section in which the lateral deviation is stored with the position of the vehicle being related to the lateral deviation. The steering amount calculation unit feeds back the lateral deviation acquired by the past information acquisition unit to calculate the steering amount.