Steering Overlay Control for Natural Lane Re-Entry
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Solution Overview
Problem
Current lane keep assist systems in vehicles often require lengthy and intrusive steering torque interventions, which can be undesirable and may necessitate additional steering corrections once the vehicle is back in the lane, as they do not consider the final position or trajectory, leading to an unnatural driving experience.
Innovation Solution
A control system that generates a steering wheel overlay signal to guide the vehicle to a target position within the lane, with the intervention ending when the vehicle's lateral velocity relative to the lane boundary is below a threshold, allowing for a more natural and less intrusive steering correction, and optionally adjusting the threshold velocity based on the direction of the vehicle's movement relative to the lane.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the steering torque intervention ends when the vehicle returns to the lane (distance to lane condition satisfied), then the vehicle is brought back to the lane, but the intervention may require a second undesired intervention and feels intrusive
Solution Approach 1:
The system uses lateral velocity feedback as an additional exit criterion beyond position feedback. The intervention terminates when both the distance to lane condition and the lateral velocity condition are satisfied, creating a more sophisticated feedback mechanism that considers both position and motion state, thereby reducing intrusiveness while maintaining reliability
Solution Approach 2:
The system allows partial lateral velocity (up to a threshold) rather than requiring complete stopping of lateral motion. This partial action approach lets the vehicle coast naturally into the lane with some residual velocity, making the intervention feel less intrusive while still achieving the lane keeping objective
2Measurement precision
If the steering torque intervention continues until the vehicle is precisely positioned in the lane, then the vehicle alignment is accurate, but the intervention time becomes lengthy
Solution Approach 1:
The system accepts partial completion of the positioning task by allowing the vehicle to enter the lane with some residual lateral velocity up to a threshold. This partial action principle reduces intervention duration while maintaining sufficient positioning accuracy for safe lane keeping
Solution Approach 2:
The exit criterion dynamically transitions from a static position-based condition to a dynamic condition that incorporates lateral velocity. This dynamic approach allows the intervention to end when the vehicle's motion state indicates it will naturally remain in the lane, reducing unnecessary intervention time while maintaining positioning precision
Data Source
AI summary
A control system for controlling generation of a steering wheel overlay signal to control positioning of a host vehicle is configured to determine a first boundary of a lane of travel and 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, the steering wheel overlay signal comprising an intra-lane steering signal for steering the host vehicle toward the target lane position. The control system is configured to remove the steering wheel overlay signal in dependence on a velocity of the host vehicle relative to the first boundary being less than a threshold velocity. Thus, the final alignment of the host vehicle achieves the perception of travelling parallel to the boundary, whilst reducing the total intervention time.