Vehicle Path Control Using Road Width Constraints
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Solution Overview
Problem
Vehicles may deviate from a target locus due to external environmental influences such as cross winds or road surface irregularities, leading to instability in navigation.
Innovation Solution
A vehicle control device that includes a width information obtaining unit to determine road width, a route creation unit to generate a target route based on this width, and a control unit to calculate and apply control amounts to maintain the vehicle within a passable range, using feedback control and actuator control to adjust the vehicle's path.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the vehicle follows a target locus generated without considering road width, then the navigation control is simple, but the vehicle may deviate from the passable range when subjected to external environmental influences
Solution Approach 1:
The system performs preliminary action by obtaining road width information in advance and incorporating it into the target locus generation process. The route creation unit creates a target locus that proactively accounts for the vehicle's passable range based on road width, rather than reacting after deviation occurs. This prevents the need for complex real-time correction mechanisms while ensuring the vehicle stays within passable boundaries.
Solution Approach 2:
The target locus acts as an intermediary between the navigation system and the vehicle control system. By embedding road width constraints into the target locus itself, the system mediates the conflict between simple navigation control and the need to maintain passable range. The locus follows the center line while considering road boundaries, serving as a buffer that simplifies downstream control while ensuring reliability.
2Reliability
If the target route is generated without considering road width, then the route generation is fast and simple, but the vehicle cannot maintain stable travel when influenced by external environment
Solution Approach 1:
The system applies self-service by using the vehicle's own recognition capabilities to obtain road width information. The vehicle's perception system actively detects road boundaries and calculates passable range based on the vehicle's dimensions, rather than relying on external infrastructure or complex manual measurements. This self-measured road width information is then integrated into target locus generation to maintain travel stability.
3Reliability
If the vehicle adjusts its path to stay within road width under external influences, then the vehicle maintains stability, but the control complexity increases
Solution Approach 1:
The system applies local quality by differentiating the control approach at different locations. The target locus locally adapts to road width constraints at each segment of the route, following the center line while maintaining appropriate lateral positioning based on local road conditions. This localized adaptation embedded in the locus simplifies the overall control mechanism compared to global path recalculation.
Data Source
AI summary
A control device of a vehicle controls an actuator of the vehicle to cause the vehicle to travel based on a follow-up route. The control device includes a width information obtaining unit that obtains a road width in which the vehicle can pass on a road on which the vehicle travels. The control device includes a locus follow-up control unit that creates a follow-up route based on the obtained road width. The locus follow-up control unit derives a control amount for causing the vehicle to travel along the follow-up route.