Vehicle Jerk Control via Lateral Acceleration Regions
Solution Overview
Problem
Current advanced driver assistance systems (ADAS) and automatic driving technologies struggle to control vehicle movement smoothly during turns with acceleration/deceleration on curved roads, particularly in scenarios where lateral acceleration is excessive, leading to unstable vehicle behavior and passenger discomfort.
Innovation Solution
A vehicle movement control device and method that defines regions based on lateral acceleration during turns, maximizing jerk in regions with lower acceleration and controlling acceleration changes to minimize jerk in regions with higher acceleration, thereby stabilizing vehicle behavior and enhancing passenger comfort.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If the vehicle travels along a curve shape of a road for automatic driving, then the course tracking is simplified, but the lateral acceleration becomes excessive and vehicle behavior becomes unstable
Solution Approach 1:
The patent modifies the travel path parameters by introducing a clothoid curve section with continuously varying curvature between the straight road and curved road sections. This parameter change in the road geometry ensures that lateral acceleration increases gradually rather than abruptly, preventing excessive lateral acceleration and unstable vehicle behavior while maintaining automated course tracking.
2Reliability
If the vehicle drives at constant speed on a tight curved road, then the lateral acceleration becomes excessive, but reducing speed may affect travel time efficiency
Solution Approach 1:
The patent applies preliminary action by introducing a clothoid curve transition section before the vehicle enters the tight curved road. This transition section pre-adjusts the lateral acceleration profile, allowing the vehicle to maintain higher speeds throughout the curve while ensuring lateral acceleration remains within comfortable and stable ranges. The gradual curvature increase in the clothoid section prepares the vehicle for the upcoming tight curve, eliminating the need for abrupt speed reductions.
3Device complexity
If strict course tracking control is performed along the road shape, then the automatic driving is simplified, but smooth movement with acceleration/deceleration cannot be achieved
Solution Approach 1:
The patent changes the path geometry parameters by incorporating a clothoid curve with continuously varying curvature instead of following the sharp road boundaries. This parameter modification allows the vehicle to maintain a simplified automated control strategy while achieving smooth acceleration and deceleration profiles, as the gradual curvature changes naturally produce smooth motion without requiring complex control algorithms.
Data Source
AI summary
Provided are: a device and a method for controlling vehicle movement, with which it is possible to suppress causing uncomfortableness to vehicle occupants and causing unstable behavior during turning by automatic travel control; and a device and a method for generating a target course. In a vehicle capable of automatically controlling lateral acceleration occurring in the vehicle, the present invention controls the acceleration occurring in the vehicle such that jerk, which is the change over time of acceleration, becomes the greatest in a region where the lateral acceleration that occurs upon entering a curve is equal to or less than half the acceleration during normal turning, and the jerk decreases as the acceleration increases.