Steering Play Compensation for Curvature-Adaptive Lane Tracking
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Solution Overview
Problem
Existing steering control devices face challenges in maintaining trackability and driver comfort when correcting target steering angles based on steering direction, particularly in scenarios with varying lane curvature radii, leading to potential inconvenience and decreased lane tracking ability.
Innovation Solution
A steering control device that includes a processor to execute processes for acquiring and correcting target steering angles, restricting play compensation amounts based on current and forward route curvature radii and turn directions, and adjusting play compensation amounts dynamically to enhance trackability and reduce steering wheel displacement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the target steering angle is corrected by a play compensation amount corresponding to the steering direction, then the trackability of the turning angle to the target steering angle is improved, but the trackability to the lane decreases when the curvature radius of the lane is small
Solution Approach 1:
The play compensation amount is made dynamic by adjusting it based on the curvature radius of the lane. When the curvature radius is small, the play compensation amount is reduced or restricted, while when the curvature radius is large, the full play compensation amount is applied. This dynamic adjustment resolves the contradiction by adapting the compensation strategy to the specific driving conditions.
Solution Approach 2:
The system changes the parameter of play compensation amount based on the curvature radius parameter of the lane. By detecting the curvature radius and adjusting the compensation amount accordingly, the system optimizes both the responsiveness to steering input and the accuracy of lane tracking under different geometric conditions.
2Speed
If the target steering angle is corrected by a play compensation amount corresponding to the steering direction, then the responsiveness of steering angle change is improved, but the displacement amount of the steering wheel becomes large causing driver strangeness
Solution Approach 1:
The play compensation amount parameter is adjusted based on the curvature radius of the lane. In straight or gentle curve conditions, a larger compensation amount is applied to improve responsiveness. In sharp curve conditions, the compensation amount is reduced to prevent excessive steering wheel displacement and maintain driver comfort.
Solution Approach 2:
The system dynamically adjusts the play compensation amount based on real-time detection of lane curvature. This dynamic adaptation allows the system to optimize responsiveness when appropriate while maintaining natural steering feel when the vehicle is navigating sharp curves, thereby resolving the contradiction between responsiveness and driver comfort.
3Device complexity
If a fixed play compensation amount is applied regardless of lane curvature, then the steering control is simplified, but the adaptability to different driving scenarios decreases
Solution Approach 1:
The system changes the play compensation amount parameter based on the detected lane curvature radius. This parameter adaptation enables the steering control to automatically adjust to different driving scenarios without requiring complex manual intervention, thereby improving adaptability while maintaining reasonable system complexity.
Solution Approach 2:
The steering control system automatically detects the lane curvature radius and adjusts the play compensation amount without driver input. This self-service capability allows the system to adapt to different driving conditions autonomously, improving versatility while keeping the user interface simple.
Data Source
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AI summary
A steering control device includes a processor. The processor is configured to execute a target rudder angle correction process, a restriction process, and a rudder angle control process. The target rudder angle correction process is a process of correcting the value of the target rudder angle variable by a play compensation amount corresponding to a steering direction. The restriction process is a process of restricting the magnitude of the play compensation amount to a small side depending on the traveling route at a current position of the vehicle and the traveling route at a movement-directional forward position. The rudder angle control process is a process of operating the motor (50) by a control in which a steering angle is adopted as a control amount and the value of the target rudder angle variable is adopted as a target value of the control amount.