Autonomous Vehicle Steering Velocity Estimation
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Solution Overview
Problem
Current autonomous vehicle systems face challenges in determining optimal paths for navigation, particularly in estimating steering velocities to avoid obstacles and maintain stable directional control, which can lead to under-steering or over-steering issues affecting safety and control.
Innovation Solution
The computing device in the vehicle uses sensors and controllers to estimate steering velocities based on steering angles and acceleration, determining a path that balances steering force and centripetal force to ensure stable navigation, combining local and remote data for decision-making.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the autonomous vehicle system determines paths using basic steering control, then the navigation can be completed, but the vehicle may experience under-steering or over-steering issues affecting safety and control
Solution Approach 1:
The system performs preliminary estimation of steering velocities based on steering angles and acceleration data before executing path navigation. This advance calculation allows the vehicle to pre-determine appropriate steering velocities that prevent under-steering or over-steering conditions, improving both safety and control stability without requiring complex real-time adjustments
Solution Approach 2:
The system continuously monitors steering angles and acceleration to estimate steering velocities, creating a feedback loop that adjusts path determination based on actual vehicle response. This feedback mechanism enables the vehicle to maintain optimal steering velocities and prevent control instability while navigating determined paths
2Stability of the object's composition
If the vehicle estimates steering velocities to prevent under-steering or over-steering, then the directional control stability is improved, but the computational complexity increases
Solution Approach 1:
The system changes the parameter estimation approach by calculating steering velocities based on steering angles and acceleration data rather than direct velocity measurement. This parameter transformation simplifies the computational requirements while maintaining accurate estimation of steering characteristics, enabling stable directional control without excessive system complexity
Data Source
AI summary
Vehicles can be equipped to operate in both autonomous and occupant piloted mode. A computing device included in a vehicle can determine estimated steering velocities for a steering system of a vehicle as a function of respective steering angles and time steps and determine a path for the vehicle to travel based on the estimated steering velocities.