Vehicle Driving Control Apparatus Path Delay Compensation
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Solution Overview
Problem
Existing driving control apparatuses face difficulties in maintaining movement control along a changed path due to delays in executing steering control commands, particularly when obstacles are detected, as they do not account for the time lag between command output and actual movement control.
Innovation Solution
A driving control apparatus that includes a movement control unit and a movement path calculating unit, which calculates a new path after the vehicle has moved along a predetermined section of the initial path, considering the delay in steering control, and adjusts the path based on vehicle speed and obstacle detection to ensure smooth transition to a new target position without obstacles.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the movement path is changed to avoid obstacles, then the vehicle can navigate around obstacles, but the movement control cannot be properly performed due to delay between command output and actual control execution
Solution Approach 1:
The system calculates the second movement path in advance, considering the predetermined period of time delay. The movement path calculating unit computes the new path from a position that accounts for the delay period, so that when the delayed control finally executes, the vehicle is already at the correct position to follow the new path.
Solution Approach 2:
The system dynamically adjusts the movement path calculation by incorporating the predetermined time delay parameter. The movement path calculating unit modifies the path planning to account for the dynamic delay in control execution, ensuring the vehicle reaches the target position despite the temporal lag.
2Speed
If movement control is performed immediately after command output, then responsiveness is improved, but the delay causes the vehicle to deviate from the intended movement path
Solution Approach 1:
The system performs preliminary calculation of the second movement path that compensates for the inherent delay. By calculating the path from a future position (after the predetermined time period), the system ensures that when the delayed control executes, the vehicle will be at the correct location to accurately follow the new path.
Solution Approach 2:
The movement control unit continuously monitors the vehicle's actual position and compares it with the calculated movement path. The system uses this feedback to adjust subsequent path calculations, ensuring that the predetermined time delay does not cause cumulative deviations from the intended trajectory.
Data Source
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AI summary
A driving control apparatus includes: a movement control unit that controls movement of a vehicle (1) in accordance with a first movement path (511) indicating a movement trajectory to a first target position (501) that is a movement destination of the vehicle (1); and a movement path calculating unit (504) that calculates a second movement path (513) as a movement path to a second target position (504) from a position (505) after the vehicle (1) moves from a current position (502) of the vehicle (1) for a predetermined period of time along the first movement path (511), wherein the movement control unit controls movement of the vehicle (1) to the second target position (504) in accordance with the second movement path (513) after causing the vehicle (1) to move along the first movement path (511) for the predetermined period of time.