Steering Overlay Control for Shorter Lane-Keeping Intervention
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Solution Overview
Problem
Current lane keep assist systems in vehicles require lengthy and intrusive steering interventions to maintain vehicle position within a lane, which can be undesirable and may necessitate additional steering corrections.
Innovation Solution
A control system that generates a steering overlay signal comprising an intra-lane steering signal to guide the vehicle to a target position within the lane, ending the intervention when the vehicle's lateral velocity relative to the lane boundary is below a threshold, allowing for a more natural and less intrusive driving experience.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If the steering intervention is extended to ensure precise vehicle positioning at the target lane position, then the vehicle alignment precision is improved, but the intervention duration increases making it more intrusive
Solution Approach 1:
The patent applies dynamics by transitioning from a static end condition (vehicle must be exactly at target position) to a dynamic end condition (vehicle lateral velocity below threshold). This allows the intervention to end when the vehicle is moving sufficiently parallel to the lane boundary, rather than requiring precise positional alignment, thereby reducing intervention duration while maintaining adequate alignment.
Solution Approach 2:
The patent changes the control parameter from position-based termination to velocity-based termination. By monitoring lateral velocity instead of lateral position, the system can terminate intervention when the vehicle is moving parallel to the lane boundary, even if not exactly at the target position. This parameter change resolves the contradiction by allowing earlier termination while maintaining acceptable alignment.
2Measurement precision
If the steering intervention requires the vehicle to be precisely positioned at the target lane position before ending, then the alignment accuracy is improved, but the intervention becomes more intrusive and lengthy
Solution Approach 1:
The patent introduces a dynamic threshold based on lateral velocity, allowing the intervention to end when the vehicle is moving sufficiently parallel to the lane boundary. This dynamic approach balances alignment accuracy with driving naturalness by not requiring precise positional alignment, thereby reducing intrusiveness while maintaining adequate alignment through the velocity criterion.
3Ease of operation
If the steering intervention is shortened to reduce intrusiveness, then the driving naturalness is improved, but the vehicle may not achieve proper alignment within the lane
Solution Approach 1:
The patent changes the termination parameter from position to velocity, allowing the intervention to end when lateral velocity is below a threshold. This ensures the vehicle is moving parallel to the lane boundary, providing proper alignment without requiring precise positional accuracy. The velocity-based criterion maintains adequate positioning while reducing intervention duration and intrusiveness.
Data Source
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Figure 3A~3B
AI summary
Aspects of the present invention relate to a control system and a method for controlling generation of a steering wheel overlay signal to control positioning of a host vehicle (2). The control system (1) is configured to determine (110) a first boundary of a lane of travel (LT-n). The control system (1) is configured to determine (120) a target lane position for the host vehicle in relation to the first boundary, such as a predetermined distance from the first boundary. A steering wheel overlay signal is generated (130), the steering wheel overlay signal comprising an intra-lane steering signal for steering the host vehicle toward the target lane position. The control system (1) is configured to remove (150) the steering wheel overlay signal in dependence on a velocity of the host vehicle (2) relative to the first boundary being less than a threshold velocity. Thus, the final alignment of the host vehicle (2) achieves the perception of travelling parallel to the boundary, whilst reducing the total intervention time.