Vehicle Path Correction for Smooth Steering Control Startup
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Solution Overview
Problem
Conventional automatic steering systems in vehicles face issues with sudden changes in deviation during startup or when assistance control is initiated, leading to swaying or rocking motions due to sharp changes in steering angle commands.
Innovation Solution
A path generation device that modifies the target route-path based on the vehicle's running state, using a target route-path generation unit, lateral position compensation-quantity setting unit, and target route-path correction unit to calculate a correction route-path, ensuring smooth steering angle adjustments.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If conventional feedback control is used to determine steering angle based on deviation between target route-path and running route-path, then the control system can maintain lane position, but the steering angle command changes sharply at startup causing swaying or rocking motion
Solution Approach 1:
The patent applies preliminary action by calculating a lateral position compensation quantity before control startup based on the initial deviation between the vehicle position and target route-path. This compensation quantity is set in advance to prevent sharp changes in steering angle command at startup, thereby eliminating swaying or rocking motion while maintaining lane position accuracy.
Solution Approach 2:
The patent changes the parameter of lateral position deviation by introducing a compensation quantity that adjusts the effective deviation used for steering control. This parameter modification ensures that the steering angle command changes smoothly rather than sharply, improving vehicle stability during startup and control transitions while maintaining accurate lane following.
2Measurement precision
If target route-path is calculated based on sensor detection without compensation, then the route-path follows the road geometry accurately, but the vehicle cannot follow the target route-path when deviation changes discontinuously at startup
Solution Approach 1:
The patent introduces a lateral position compensation quantity as an intermediary between the detected target route-path and the vehicle's following control. This compensation quantity mediates the relationship by adjusting for initial position deviations, enabling the vehicle to smoothly follow the target route-path even when discontinuous changes occur at startup, without compromising detection accuracy.
Data Source
AI summary
A path generation device of a motor vehicle comprises: a target route-path generation unit for producing a target route-path of the motor vehicle; a lateral position compensation-quantity setting unit for setting a lateral position compensation-quantity being a compensation-quantity in a sideward direction with respect to the target route-path; and a target route-path correction unit for calculating a correction route-path on the basis of the target route-path and on that of the lateral position compensation-quantity.