Following Vehicle Path Tracking Cornering Control
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Solution Overview
Problem
Existing vehicle following control methods fail to adequately prevent the following vehicle from cutting corners, especially during cornering scenarios, leading to potential traffic hazards.
Innovation Solution
A method for determining the direction of travel for a following vehicle that involves measuring lateral offsets and using lateral position change parameters to adjust the steering angle, ensuring the following vehicle stays close to the target vehicle's path by incorporating actual and impending position changes, slip angles, curve radii, and yaw rates.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the steering angle is controlled based on relative lateral distance and yaw angle, then the following vehicle can maintain basic path following, but the deviation during cornering is not sufficiently reduced
Solution Approach 1:
The invention changes the control parameters from static relative position and yaw angle to dynamic parameters including slip angle, velocity, and acceleration. By incorporating slip angle measurement and using velocity-dependent lateral offset modification, the system adapts to cornering conditions dynamically, resolving the contradiction between basic path following and cornering accuracy.
Solution Approach 2:
The invention introduces dynamic adaptation through velocity-dependent lateral offset modification and slip angle compensation. The lateral offset is no longer fixed but varies with vehicle velocity and slip angle, allowing the control system to dynamically adjust to changing cornering conditions, thereby improving reliability during cornering while maintaining path following accuracy.
2Ease of operation
If the lateral offset is kept fixed to simplify control, then the control system is easier to implement, but the following vehicle may unintendedly cut corners
Solution Approach 1:
The invention transforms the fixed lateral offset into a velocity-dependent variable parameter. The lateral offset modification measure changes with vehicle velocity and slip angle, allowing the system to automatically compensate for cornering effects without requiring complex manual adjustment, thus maintaining ease of operation while improving path following accuracy.
Solution Approach 2:
The invention implements feedback through slip angle measurement and velocity-dependent lateral offset adjustment. The slip angle sensor provides real-time feedback about vehicle dynamics, and this information is used to dynamically modify the lateral offset, creating a closed-loop control system that automatically corrects cornering deviations while keeping the control system relatively simple.
Data Source
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AI summary
The present invention relates to a method for determining a direction of travel for a following vehicle (10) in order to ensure that the following vehicle (10) follows a path that is indicative of a vehicle path of a target vehicle (12). The target vehicle (10) extends in a longitudinal direction (X) and a lateral direction (Y) wherein the longitudinal direction (X) corresponds to an intended direction of travel of the following vehicle (10). The method comprises: • determining a measured lateral offset (ΔYmeasure) between the following vehicle (10) and the target vehicle (12); • measuring at least one lateral position change parameter corresponding to an actual performed and/or ongoing and/or impending lateral position change of said following vehicle (10), an actual performed and/or ongoing and/or impending lateral position change of said target vehicle (12), or a combination thereof; • determining a lateral offset modification measure (OY) using said lateral position change parameter, and • using the measured lateral offset (ΔYmeasure) and the lateral offset modification measure (OY) when determining the direction of travel.