Vehicle Lane Keeping Control via Predictive Path Fitting
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing vehicle control systems using PID adjustments for steering to maintain lane centering suffer from low accuracy, leading to overshoot and shock, compromising driver comfort and stability.
Innovation Solution
A method and apparatus that detect vehicle traveling states, preview paths, fit turning paths, and calculate steering wheel angle changes to adjust the vehicle's direction, using sensors and predictive algorithms to minimize centripetal force and prevent slipping, thereby improving stability and comfort.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If PID adjustment is used to steer the vehicle back to the lane center, then the vehicle can be controlled to return to the center position, but overshoot and shock occur due to large parameter values
Solution Approach 1:
The system performs preliminary action by predicting the vehicle's future trajectory and calculating the optimal steering angle in advance, rather than reacting to current lane deviation. This allows the vehicle to smoothly return to the lane center by anticipating the required corrective action before the deviation becomes critical, thereby preventing overshoot and shock.
Solution Approach 2:
The system applies dynamics by continuously adjusting the steering angle based on real-time vehicle state (speed, acceleration) and predicted trajectory. The control parameters are dynamically adapted to the current driving conditions, allowing smooth and context-appropriate corrections that avoid rigid, shock-inducing adjustments.
2Ease of manufacture
If PID adjustment is used with experience-based parameters, then the control system is simple to implement, but accuracy is low and driver comfort is reduced
Solution Approach 1:
The system replaces the traditional mechanical PID control approach with an intelligent algorithm that uses vehicle state detection, trajectory prediction, and dynamic steering angle calculation. This substitution maintains ease of implementation through software-based control while dramatically improving accuracy by adapting to real-time driving conditions rather than relying on fixed empirical parameters.
3Speed
If large PID parameters are used for quick lane correction, then the response speed is fast, but the vehicle experiences shock and reduced comfort
Solution Approach 1:
By predicting the vehicle's future position and calculating the optimal steering correction in advance, the system achieves fast lane correction without sudden, shock-inducing movements. The preliminary calculation allows the vehicle to gradually return to the lane center along an optimized trajectory, maintaining both speed and comfort.
Solution Approach 2:
The system dynamically adjusts the steering correction based on current vehicle speed and acceleration, applying larger corrections when appropriate and smaller, smoother corrections when the vehicle is moving quickly. This dynamic adaptation maintains fast response while preventing comfort-degrading shock.
Data Source
AI summary
A method for controlling vehicle travelling includes: detecting a plurality of travelling states of a vehicle, the plurality of travelling states includes a plurality of travelling directions; respectively previewing the vehicle travelling along the plurality of travelling directions from an original position in a lane to obtain a plurality of previewing paths; fitting a plurality of turning paths of the vehicle travelling from the original position to a target path in the lane according to the plurality of previewing paths; using the plurality of turning paths to calculate change information of a plurality of steering wheel angles; and adjusting the plurality of travelling directions according to the change information of the steering wheel angles, so as to control the vehicle to travel from the original position to the target path along the turning path.