Vehicle Trajectory Control Using Disturbance Estimation Feedback
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Solution Overview
Problem
Existing vehicle control systems struggle to accurately estimate disturbances such as transverse road slopes and crosswinds, leading to deviations from target trajectories during autonomous driving, which affects the performance of trajectory tracking.
Innovation Solution
A vehicle control system that acquires positional differences between the target and actual trajectories, estimates the amount of disturbance using this information, and generates control commands to correct the vehicle's path, incorporating transverse slope and crosswind corrections based on high-accuracy estimation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If disturbance estimation is performed based on vehicle motion information (speed, lateral acceleration, yaw rate), then the estimation process can be implemented, but the measurement precision of disturbance amount is insufficient
Solution Approach 1:
The patent introduces a transverse slope estimation value as an intermediary parameter that mediates between vehicle motion information and disturbance amount. The transverse slope estimation is calculated from vehicle motion information (lateral acceleration, yaw rate, vehicle speed) and then used to determine the disturbance amount, improving measurement precision while managing complexity through a structured intermediate step
Solution Approach 2:
The system implements feedback by continuously monitoring the transverse deviation between target and actual trajectories, using this information to adjust and refine the transverse slope estimation value. This feedback mechanism enables iterative improvement of disturbance estimation accuracy based on actual tracking performance
2Reliability
If conventional disturbance estimation methods are used, then the system can operate, but the trajectory tracking performance deteriorates due to inaccurate disturbance compensation
Solution Approach 1:
The system performs preliminary estimation of the transverse slope value before calculating the final disturbance amount. By pre-calculating the transverse slope from vehicle motion information and storing it as reference data, the system prepares accurate disturbance compensation in advance, improving trajectory tracking reliability
Solution Approach 2:
The patent changes the parameter used for disturbance estimation from direct vehicle motion parameters to a derived transverse slope parameter. This parameter transformation improves the accuracy of disturbance amount estimation by using a more representative intermediate parameter that better correlates with actual disturbance conditions
3Measurement precision
If the system uses transverse slope estimation to improve disturbance accuracy, then measurement precision improves, but device complexity increases due to additional calculation steps
Solution Approach 1:
The patent segments the disturbance estimation process into distinct modular steps: (1) calculating transverse slope estimation from vehicle motion information, (2) determining transverse deviation from trajectory comparison, and (3) calculating final disturbance amount using both inputs. This segmentation improves measurement precision through systematic processing while managing complexity through clear separation of calculation functions
Data Source
AI summary
A vehicle control apparatus, a vehicle control method, and a vehicle control system according to the present invention each acquire information related to a positional difference in a transverse direction between a target trajectory of a vehicle and an actual trajectory of the vehicle, estimate an amount of disturbance corresponding to the positional difference in the transverse direction by using the information related to the positional difference in the transverse direction, and obtain a control command by using the amount of disturbance as an aspect thereof. The control command is for causing the vehicle to track the target trajectory. This makes it possible to accurately estimate the amount of disturbance and increase the performance of tracking the target trajectory.