Vehicle Control System Preventing Oversteering via Lane Curvature Feedback
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Solution Overview
Problem
Existing vehicle control systems fail to prevent oversteering and accurately determine bank road conditions, and lack effective methods to handle steering system failures during lane maintaining assist and smart cruise control operations.
Innovation Solution
A vehicle control system that integrates a lane maintaining assist system with electronic stability control, using lane information and steering angle data to adjust steering and braking, and determines bank road conditions to prevent oversteering and secure lane maintenance, even when the steering system fails.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the lane maintaining assist system operates based on lane information, then lane keeping performance is improved, but oversteering occurs when lane curvature and critical curvature approach
Solution Approach 1:
The system calculates critical curvature based on vehicle parameters (wheelbase, mass, lateral stiffness) and compares it with detected lane curvature. When lane curvature approaches critical curvature, the system provides feedback to reduce steering intervention, preventing oversteering while maintaining lane keeping performance.
Solution Approach 2:
The system dynamically adjusts the steering control parameter by calculating a curvature ratio (lane curvature / critical curvature). When this ratio exceeds a threshold, the lane maintaining assist system modifies its steering torque output to prevent oversteering, thereby maintaining vehicle stability.
2Device complexity
If the electronic stability control determines bank angle using only vehicle sensors, then system complexity is reduced, but determination reliability is reduced
Solution Approach 1:
The system uses lane information from the lane maintaining assist system as an intermediary to determine bank road conditions. By combining lane curvature data with vehicle curvature data, the electronic stability control can accurately detect bank roads without adding dedicated sensors, thus maintaining low system complexity while improving reliability.
3Reliability
If the steering control system fails during lane maintaining assist operation, then system robustness is improved, but lane maintaining assist performance is lost
Solution Approach 1:
The system performs preliminary actions by calculating target steering angles and preparing control commands before steering failure occurs. When steering failure is detected, the electronic stability control uses pre-calculated braking torques to compensate, maintaining lane keeping performance through alternative control mechanisms.
Solution Approach 2:
The system extracts the essential function of lane keeping by separating the steering control function from the braking control function. When steering fails, the electronic stability control extracts and applies only the necessary braking torques to maintain vehicle attitude and lane position, preserving lane maintaining assist performance through a different control mechanism.
Data Source
AI summary
A vehicle control system and a method for self-control driving thereof are provided. The method includes: adjusting, by a controller, steering based on lane information and sensing a driving situation of the vehicle based on the steering adjustment. In addition, the controller is configured to determine an intervention in an attitude control based on the driving situation and in response to determining the intervention, operate a braking system to adjust the attitude of the vehicle.