Vehicle Control System Trajectory Replanning for Turning Interference
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Solution Overview
Problem
Existing vehicle control systems face interference between trajectory-following control and independent turning controls, where the first turning control can counteract the second turning control, reducing its effectiveness, especially in scenarios like collision avoidance and lane departure prevention.
Innovation Solution
A vehicle control system that determines when the first turning control interferes with the second turning control and replans the target trajectory by designating the current position or yaw angle as a starting point, allowing the second turning control to execute appropriately while maintaining the first turning control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If the first turning control (trajectory-following control) is executed to make the vehicle follow the target trajectory, then the vehicle can maintain stable path following, but the second turning control (independent turning control) may be counteracted and its performance cannot be achieved as expected
Solution Approach 1:
The system dynamically adjusts the target trajectory based on the execution status of the second turning control. When second turning control is active, the trajectory generation is modified to accommodate the independent turning action, allowing the first turning control to adapt rather than resist the second control's effects
Solution Approach 2:
The target trajectory acts as an intermediary between the first and second turning controls. By modifying the trajectory generation to account for second turning control actions, the system creates a mediating reference path that reduces the counteracting effect between the two controls
2Stability of the object's composition
If the first turning control counteracts the turning by the second turning control, then the vehicle can maintain the target trajectory, but the effect of the second turning control is reduced
Solution Approach 1:
The target trajectory is dynamically replanned when second turning control is executed, transforming from a static reference to a dynamic adaptive path that incorporates the effects of independent turning control, thereby maintaining trajectory stability while enabling second control effectiveness
Data Source
AI summary
A vehicle control system installed on a vehicle executes turning control that controls a turning device configured to turn a wheel of the vehicle. The turning control includes: first turning control that generates a target trajectory and makes the vehicle follow the target trajectory; and second turning control that is executed independently of the first turning control without depending on the target trajectory. When the first turning control and the second turning control are executed simultaneously, the vehicle control system determines whether the first turning control counteracts turning by the second turning control. When the first turning control counteracts the turning by the second turning control, the vehicle control system replans the target trajectory by designating at least one of a current position and a current yaw angle of the vehicle as a starting point of the target trajectory.