Vehicle Control Device Steering Angle Generation at Low Speed
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Solution Overview
Problem
Conventional vehicle control devices face challenges in ensuring smooth progression of vehicles in desired directions, particularly at low speeds and during mode transitions, due to reduced reliability of detection results for the vehicle and external environment states.
Innovation Solution
A vehicle control device equipped with an external environment state detecting unit, lane information acquisition unit, state detecting unit, target steering angle generating unit, and steering angle control unit, which uses high-reliability lane and attitude information to generate and control steering angles, ensuring accurate directionality even at low speeds and during mode transitions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If the vehicle travels at low speed (speed ≤ predetermined value), then the vehicle can perform precise positioning and slow maneuvering, but the reliability of detection results for vehicle state and external environment decreases
Solution Approach 1:
The system performs preliminary actions by detecting the low speed traveling state in advance and switching to a different target steering angle calculation method before reliability issues manifest. The state detecting unit continuously monitors vehicle speed, and when low speed is detected, the system proactively changes its operational mode to use lane information and attitude information that remain reliable at low speeds, rather than waiting for detection failures to occur
Solution Approach 2:
The system changes operational parameters based on vehicle speed. When the vehicle is in a low speed traveling state (speed ≤ predetermined value), the target steering angle generating unit switches from using detection results of vehicle state and external environment to using lane information and attitude information. This parameter change in the calculation method maintains control reliability across different speed ranges
2Device complexity
If conventional vehicle control devices are used at low speed, then the system structure remains simple, but the vehicle cannot proceed smoothly in the desired direction due to reduced detection reliability
Solution Approach 1:
The system dynamically adjusts its control strategy based on vehicle speed. The target steering angle generating unit automatically switches between different calculation methods depending on whether the vehicle is in a low speed traveling state or not. This dynamic adaptation ensures smooth vehicle progression in the desired direction without requiring complex manual intervention or system reconfiguration
Solution Approach 2:
The state detecting unit continuously provides feedback on vehicle speed to the control system. When low speed is detected, this feedback triggers a change in the target steering angle calculation method. The system uses this feedback loop to maintain appropriate control strategies that ensure smooth progression regardless of speed conditions
Data Source
AI summary
A vehicle control device is equipped with a target steering angle generating unit adapted to generate a target steering angle for a vehicle from a relationship between acquired lane information and an attitude of the vehicle, during a period in which a low speed traveling state is being detected, or during a period until a predetermined condition from a mode transition time point is satisfied, and a steering angle control unit adapted to control the steering angle of the vehicle so as to agree with the generated target steering angle.