Vehicle Lateral Motion Control with Dynamic Steering Limits
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Solution Overview
Problem
Existing lateral motion control systems for vehicles are inflexible and unable to accurately adapt to dynamic driving conditions, potentially leading to loss of control during emergencies due to rigidly set judgment criteria, limiting the vehicle's ability to maneuver out of danger.
Innovation Solution
A method and system for generating and adjusting steering control commands based on a desired track, determining a vehicle's running state through error values between the desired and actual tracks, and dynamically stopping or limiting the steering control command to prevent loss of control, using criteria such as acceptable steering torque ranges and time thresholds.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a rigidly set judgment criterion is used to limit steering change rate, then vehicle control stability is improved, but the system becomes inflexible and cannot accurately adapt to dynamic driving conditions
Solution Approach 1:
The patent implements dynamic adjustment of steering change rate limits based on real-time vehicle operating conditions. The control system continuously monitors vehicle speed, steering angle, and track deviation, and adapts the steering change rate threshold accordingly. This allows the system to maintain stability under normal conditions while enabling aggressive maneuvers when necessary, resolving the contradiction between rigid stability and flexible adaptability.
Solution Approach 2:
The system dynamically changes the steering change rate parameter based on vehicle state. When track deviation exceeds a threshold or vehicle speed indicates an emergency situation, the system increases the allowable steering change rate from a conservative baseline value to a higher emergency value, enabling the vehicle to quickly correct deviations or escape danger while maintaining normal operational stability.
2Reliability
If an initially set judgment criterion limits lateral movement, then unexpected steering commands are avoided, but the vehicle cannot maneuver out of danger during emergencies
Solution Approach 1:
The system pre-establishes a conservative steering change rate limit to prevent unexpected steering commands under normal conditions. However, it also pre-prepares an emergency mode that can be activated when track deviation or vehicle state indicates danger, allowing the system to switch from prevention-oriented control to escape-oriented control when necessary.
Solution Approach 2:
The steering control system transitions from a static, pre-set limit to a dynamic limit that adapts based on real-time tracking of vehicle position relative to the desired track. When the vehicle approaches or exceeds safety thresholds, the system dynamically adjusts the steering change rate criterion to permit emergency maneuvers, resolving the contradiction between preventing unexpected commands and enabling escape maneuvers.
3Stability of the object's composition
If steering change rate is strictly limited, then vehicle control stability is maintained, but response time to correct track deviations increases
Solution Approach 1:
The system uses parameter changes to adjust the steering change rate limit based on the magnitude and duration of track deviation. For small, gradual deviations, a strict limit maintains stability. For large or persistent deviations indicating loss of control or emergency situations, the system increases the allowable steering change rate to enable rapid correction, thereby reducing response time while maintaining stability when appropriate.
Data Source
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AI summary
The application relates to a lateral motion control method and system for a vehicle, an automatic driving controller, a steering system, a vehicle, and a storage medium, wherein the lateral motion control method for the vehicle comprises: generating and outputting a steering control command according to a desired track of the vehicle, such that the vehicle moves along an actual track according to the steering control command; determining a vehicle running state, wherein the vehicle running state is generated according to an error value between the desired track and the actual track; and determining whether to stop/limit outputting of the steering control command or not according to the vehicle running state. The lateral motion of the vehicle can be controlled according to the method.