Vehicle Control Device Yaw Rate Deviation Correction
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Solution Overview
Problem
Self-driving vehicles may become unstable after behavior stabilization control, leading to repeated interventions and passenger safety concerns due to continued deviations in actual and model yaw rates.
Innovation Solution
A vehicle control device that adjusts target vehicle speed and steering angle based on deviations between actual and model yaw rates to maintain stability, correcting these parameters after stabilization to prevent reoccurrence of oversteer or understeer behaviors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If behavior stabilization control is applied to correct vehicle instability, then vehicle stability is improved, but the vehicle may become unstable again after control ends, leading to repeated interventions
Solution Approach 1:
The system performs preliminary correction by adjusting the target yaw rate before behavior stabilization control is fully completed. When the deviation between actual and model yaw rates decreases below a threshold but stability is not yet fully achieved, the target yaw rate is corrected in advance to prevent the vehicle from becoming unstable again after control ends, thereby avoiding repeated interventions.
Solution Approach 2:
The system continuously monitors the deviation between actual and model yaw rates during behavior stabilization control. When the deviation decreases to a certain level, this feedback triggers a correction of the target yaw rate. This closed-loop feedback mechanism ensures that the vehicle maintains stability by adjusting control parameters based on real-time performance, preventing oscillation and repeated instability.
2Stability of the object's composition
If behavior stabilization control intervenes frequently to maintain stability, then vehicle stability is improved, but control responsiveness and passenger comfort deteriorate due to continuous corrections
Solution Approach 1:
The system uses a model yaw rate that represents the expected stable vehicle behavior as a reference. By comparing actual yaw rate with this model copy, the system can detect deviations and trigger stabilization control only when necessary. This approach avoids continuous corrections by using the model as a threshold for intervention, thereby improving passenger comfort while maintaining stability.
Solution Approach 2:
The system dynamically adjusts the target yaw rate parameter based on the deviation between actual and model yaw rates. When deviation is large, behavior stabilization control is applied; when deviation decreases, target yaw rate correction is applied. This parameter change strategy reduces the frequency of intensive corrections, improving control responsiveness and passenger comfort while maintaining vehicle stability.
Data Source
AI summary
A vehicle control device to be installed in a vehicle includes a self-driving controller and a calculator. The self-driving controller is configured to set a target vehicle speed and a target steering angle to allow the vehicle to trace a predetermined target travel locus. The self-driving controller is configured to control the vehicle based on the target vehicle speed and the target steering angle. The calculator is configured to calculate a deviation between an index of an actual vehicle behavior and an index of a reference vehicle behavior. The self-driving controller corrects one or both of the target vehicle speed and the target steering angle in accordance with an increase of the deviation, so as to stabilize the vehicle.