Vehicle Control Apparatus Trajectory Correction
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Solution Overview
Problem
Conventional vehicle control systems struggle to accurately move a vehicle to a predetermined position at a desired timing, especially when changing lanes or navigating through dynamic traffic conditions.
Innovation Solution
A vehicle control apparatus and method that includes a trajectory generation unit, target speed calculation unit, derivation unit, and correction unit to generate and adjust the vehicle's trajectory and speed, ensuring precise positioning by calculating and correcting the target speed based on differences between the vehicle's current and predicted positions, as well as lane change considerations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If conventional vehicle control systems are used, then the system structure is simple, but the vehicle cannot accurately move to a predetermined position at a desired timing
Solution Approach 1:
The control system is segmented into distinct functional units: trajectory generation unit, target speed calculation unit, derivation unit, and correction unit. Each unit handles a specific aspect of the control process, allowing for precise positioning while maintaining manageable system complexity through modular design.
Solution Approach 2:
The trajectory generation unit creates a predetermined trajectory in advance, and the target speed calculation unit calculates the required speed profile before execution. This preliminary planning enables the vehicle to accurately reach desired positions at desired timings by pre-computing the optimal path and speed profile.
2Manufacturing precision
If the vehicle travels according to a predetermined trajectory, then the positioning accuracy improves, but the responsiveness to actual position deviations decreases
Solution Approach 1:
The derivation unit continuously calculates the difference between the actual vehicle position and the trajectory position at each predetermined time interval. This feedback mechanism enables real-time detection of position deviations, allowing the system to maintain trajectory following accuracy while responding quickly to actual position errors through continuous correction.
3Loss of time
If the target speed is calculated without correction, then the calculation process is simple, but the vehicle arrives at the destination at incorrect timing
Solution Approach 1:
The correction unit uses the position difference calculated by the derivation unit to adjust the target speed. This feedback-based speed correction ensures that the vehicle arrives at the destination at the correct timing by continuously comparing actual progress with the planned trajectory and making real-time speed adjustments.
Solution Approach 2:
The target speed is dynamically adjusted based on the calculated position difference. Rather than using a fixed speed profile, the system modifies the target speed in real-time according to actual vehicle performance and position deviations, enabling accurate timing while adapting to dynamic conditions.
Data Source
AI summary
A vehicle control apparatus includes a trajectory generation unit configured to generate a locus of a position of an own vehicle for each predetermined time in a future as a trajectory of the own vehicle, a target speed calculation unit configured to calculate a target speed of the own vehicle for each position on the trajectory generated by the trajectory generation unit, a traveling control unit configured to control traveling of the own vehicle on the basis of the target speed calculated by the target speed calculation unit, a derivation unit configured to derive a difference between a position on the trajectory generated by the trajectory generation unit and a current position of the own vehicle every time the predetermined time elapses, and a correction unit configured to correct the target speed calculated by the target speed calculation unit on the basis of the difference derived by the derivation unit.