Travel Control Device with Variable Gain Feedback
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Solution Overview
Problem
Current feedback control systems for vehicle travel have limitations in precision due to constant control gains for various control items like position, speed, and yaw rate, leading to suboptimal error reduction across different positions and states, resulting in insufficient adjustment capability.
Innovation Solution
A travel control device that generates a travel plan with adjustable allowable error amounts and control gains for each control item and position, prioritizing error reduction where necessary, allowing for highly precise control while allowing higher errors in non-critical areas, thus enhancing overall system adjustment capability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If constant control gain is used for each control item in feedback control, then the control system is simple to implement, but the error reduction precision is insufficient at different positions and for different control items
Solution Approach 1:
The patent applies local quality by setting different control gains for different control items (lateral position, longitudinal position, yaw rate, speed) and different positions along the target locus. This allows the system to prioritize error reduction for critical parameters and positions, achieving higher precision where needed without uniformly increasing complexity across the entire system.
Solution Approach 2:
The patent implements dynamics by making control gains variable rather than constant. The control gain for each control item is adjusted dynamically based on the vehicle's current position along the target locus and the specific control item being controlled. This enables the system to adapt its adjustment capability to match the varying requirements at different stages of the maneuver.
2Manufacturing precision
If constant control gain is applied at each position in the target locus, then the control system is easy to implement, but the total adjustment capability to eliminate error is limited
Solution Approach 1:
The patent applies parameter changes by dynamically adjusting the control gain values based on the vehicle's position along the target locus and the specific control item. This allows the system to allocate adjustment capability more effectively across different positions and control items, improving overall error elimination capability without requiring a proportional increase in system throughput.
Data Source
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AI summary
A travel control device 1 which controls vehicle travel by feedback control so that the vehicle travels according to a travel plan is characterized by including: a control item determining unit 41 that determines a prioritized control item for every position of a target locus in the travel plan; a control gain determining unit 41 that sets a control gain of the determined prioritized control item to be higher than those of other control items; and a travel plan correction unit 41 that includes the determined control gain in the travel plan.