Vehicle Control System Emergency Path Backup
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Solution Overview
Problem
Conventional vehicle control systems face challenges in maintaining accurate traveling path control when an abnormality occurs in the main electric control device, particularly in dealing with disturbances like cross winds or changes in road surface conditions, which can cause the vehicle to deviate from the intended lane or interfere with driver-intended steering operations.
Innovation Solution
A vehicle control system comprising a main calculation device, a substitute calculation device, and a white lane information acquisition device, where the substitute device calculates and corrects feedforward and feedback operation amounts for steering to maintain the vehicle's path, preventing unintended steering adjustments during lane changes and ensuring safe travel by utilizing backup data and real-time lane information.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the substitute calculation device uses backup data to calculate the target path when an abnormality occurs in the main calculation device, then the vehicle can maintain traveling path control during abnormality, but the control accuracy deteriorates because the backup data is not the latest information and cannot deal with current disturbances such as cross wind or road surface condition changes
Solution Approach 1:
The substitute calculation device acquires actual traveling path information from the white lane information acquisition device and uses it to calculate a feedback operation amount. This feedback mechanism allows the system to correct the feedforward operation amount based on real-time lane position, thereby maintaining control accuracy even when using backup data from before the abnormality occurred.
Solution Approach 2:
The system calculates a feedforward operation amount based on backup target path data before the abnormality occurs. This preliminary action ensures that the vehicle can immediately continue traveling along the planned path without interruption, while the feedback mechanism subsequently refines this preliminary control based on actual lane position.
2Adaptability or versatility
If the substitute calculation device corrects the feedforward operation amount with the feedback operation amount, then the vehicle can adapt to current lane conditions, but unintended steering corrections may occur during lane change operations
Solution Approach 1:
The system dynamically switches between feedforward-only control and combined feedforward-feedback control based on the detected vehicle operation state. When lane change is detected, only feedforward control is applied to ensure smooth lane transition. When lane change is not detected, feedback control is applied to adapt to disturbances like cross wind or road surface changes.
Solution Approach 2:
The control strategy changes parameters based on detected conditions: during lane change operations, the feedback operation amount is excluded from the control calculation to maintain smooth transitions; during normal operations, the feedback operation amount is included to adapt to environmental disturbances.
3Stability of the object's composition
If the system uses only feedforward control based on backup data, then the vehicle can maintain the intended path, but it cannot respond to real-time disturbances such as cross wind or road surface condition changes
Solution Approach 1:
The system implements feedback control by acquiring actual traveling path information from the white lane information acquisition device and calculating a feedback operation amount that corrects deviations from the backup target path. This allows the vehicle to respond to real-time disturbances while maintaining overall path consistency.
Solution Approach 2:
The feedback operation amount acts as an intermediary that bridges the gap between the backup target path data and the actual vehicle position. It translates real-time lane position information into corrective steering commands, enabling the system to adapt to disturbances without completely abandoning the original path plan.
Data Source
AI summary
When an abnormality occurs in the main ECU, assist control A or B is executed by the substitute ECU as emergency traveling path control. The assist control A is executed when the target path TP_RS does not intersect the white lane. In the assist control A, feedforward control is executed for making the subject vehicle M travel along the target path TP_RS. In the assist control A, feedback control is also executed to keep the distance LD_CL in the transverse direction from the center of the traveling lane to the reference position. The assist control B is executed when the target path TP_RS intersects the white lane. In the assist control B, only the feedforward control is executed in which the subject vehicle M is controlled to travel along the target path TP_RS.