Vehicle Steering Control via Segmented Linear Modules
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing collision avoidance systems for motor vehicles require complex path follower controllers that are difficult to parameterize and adapt to different vehicle types, especially due to non-linear dynamic behavior, which complicates steering angle control across various speed ranges.
Innovation Solution
A method and device using multiple linear controller modules with speed-responsive weighting factors to determine steering angles, where each module is optimized for specific speed ranges, allowing for simpler parameterization and improved accuracy in collision avoidance maneuvers.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of manufacture
If a single linear controller module is used for steering angle control, then the parameterization and adaptation to different vehicle types is simple, but the control precision is insufficient across the total speed range due to non-linear transmission behavior
Solution Approach 1:
The control system is divided into multiple linear controller modules, each optimized for a specific speed range. Each module processes steering angle commands independently for its designated speed range, allowing simple parameterization within each module while achieving high precision across the entire speed range through the combination of segmented modules.
Solution Approach 2:
The system dynamically selects and weights controller modules based on the current vehicle speed. A weighting factor is applied to each module's output signal, with the weighting factor being determined by the vehicle speed. This dynamic weighting allows the system to adapt to different operating conditions while maintaining both simplicity and precision.
2Measurement precision
If multiple linear controller modules are used with speed-responsive weighting, then the steering angle control precision across different speed ranges is improved, but the device complexity increases
Solution Approach 1:
The controller is segmented into multiple linear modules, each handling a specific speed range. This segmentation allows each module to be independently optimized and parameterized, reducing the complexity of tuning the entire system while improving precision across different operating conditions.
Solution Approach 2:
The system changes parameters (weighting factors) based on vehicle speed to optimize controller performance. By adjusting the weighting factors according to speed, the system achieves high precision across different speed ranges without requiring complex adaptive control algorithms, thus managing device complexity.
3Measurement precision
If a complex non-linear path follower controller is used to handle vehicle dynamics, then the control accuracy across all speed ranges is improved, but the adjustment effort and structure become very high
Solution Approach 1:
Instead of using a single complex non-linear controller, the system segments the control function into multiple linear modules. Each module is simpler to adjust and parameterize, yet collectively they provide the accuracy needed across all speed ranges, significantly reducing the adjustment effort required.
Solution Approach 2:
Multiple linear controller modules are merged together with their outputs combined through weighted arbitration. This merging approach achieves the accuracy of a complex non-linear controller while maintaining the simplicity and ease of adjustment of linear modules, as each can be independently tuned.
Data Source
AI summary
A method for steering a motor vehicle in a collision avoidance maneuver ahead of an object in the front or lateral surroundings of the motor vehicle. It is arranged that a linear control method is employed, in which case one controller output signal (δLLM1; . . . ; δLLMN) each is determined in at least two linear controller modules depending on a deviation (e) between an actual position of the motor vehicle and a nominal position that is predetermined due to the avoiding path. The controller output signals (δLLM1; . . . ; δLLMN) are weighted with respectively one weighting factor (Φ1; . . . ; ΦN) that is established depending on the vehicle speed (v), and a steering angle of steerable wheels of the motor vehicle is established based on an arbitration of the weighted controller output signals. Furthermore, a device which is suitable to implement the method is provided.