Steering Wheel Overlay Control for Precise Lane Trajectory Alignment
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Solution Overview
Problem
Current lane keep assist systems in vehicles often result in the driver being positioned in the opposing lane due to lack of consideration for the final position or trajectory, leading to undesired steering interventions.
Innovation Solution
A control system that determines the principal axis of a lane of travel and generates a steering wheel overlay signal to align the vehicle's trajectory with a target trajectory, reducing or removing the signal when alignment is achieved, thereby minimizing interventions and reducing driver workload.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the steering torque intervention concludes when a distance to lane condition is satisfied, then the lane keep assist system can trigger steering intervention to bring the driver back to the lane, but the driver may be positioned in the direction of the opposing lane and result in a second undesired intervention
Solution Approach 1:
The system performs preliminary action by determining a target trajectory and calculating the angular offset before generating steering torque. This preliminary calculation ensures the vehicle is guided to the correct position within the lane, preventing positioning errors that would cause additional interventions. The target trajectory is established in advance based on lane markings and vehicle state, ensuring accurate lane centering.
Solution Approach 2:
The system implements feedback by continuously monitoring the angular offset between the vehicle's current trajectory and the target trajectory. This feedback loop allows the control system to adjust the steering torque dynamically, reducing torque as the vehicle approaches the target position and eliminating it when aligned. This prevents overshooting and ensures the vehicle stops at the correct lane position without triggering unnecessary interventions.
2Manufacturing precision
If the steering wheel overlay signal is applied to control the vehicle trajectory, then the vehicle can be brought to a specific trajectory within the lane, but the intervention duration increases and the driver assist function becomes more intrusive
Solution Approach 1:
The system applies partial action by generating steering torque only to the extent necessary to correct the angular offset and align the vehicle with the target trajectory. The torque magnitude is proportional to the angular offset, applying just enough correction without excessive steering input. This reduces intervention duration while maintaining precise trajectory alignment, as the vehicle is guided efficiently to the target position without unnecessary steering adjustments.
3Measurement precision
If the intra-lane steering signal is generated to control the host vehicle within the lane of travel, then the trajectory can be aligned with the target trajectory, but the steering wheel torque overlay increases driver effort
Solution Approach 1:
The system implements dynamics by making the steering torque overlay dynamic rather than static. The torque magnitude varies continuously based on the angular offset between current and target trajectories. When the offset is large, higher torque is applied for rapid correction; as the vehicle approaches alignment, torque is progressively reduced. This dynamic adjustment maintains high alignment accuracy while minimizing driver effort, as the system only applies necessary corrective torque.
Data Source
AI summary
The present disclosure relates to a control system for controlling generation of a steering wheel overlay signal to control a trajectory of a host vehicle. The control system includes one or more controllers. The control system is configured to determine a principal axis of a lane of travel. A target trajectory is determined for the host vehicle in dependence on the determined principal axis. The steering wheel overlay signal is generated, including an intra-lane steering signal for aligning the trajectory of the host vehicle with the target trajectory. The intra-lane steering signal is removed when the trajectory is at least substantially aligned with the target trajectory. The present disclosure also relates to a vehicle; and a method of controlling generation of a steering wheel overlay signal.