Vehicle Path Interpolation Control for Smooth Low-Speed Steering
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Solution Overview
Problem
Existing vehicle control systems, particularly for autonomous vehicles, often produce jerky steering movements at low speeds, leading to discomfort, potential danger, and excessive wear on the steering system.
Innovation Solution
A control system and method that uses a path controller to determine interpolation point data by interpolating between waypoints, incorporating position, heading, and curvature data, using complex polynomial and matrix inversion techniques to minimize sudden changes in vehicle direction.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Temperature
If a conventional heating system is used in a bathroom, then heating function is provided, but condensation occurs on mirrors and windows causing visibility issues and safety hazards
Solution Approach 1:
The heating system is divided into multiple independent heating zones (first heating zone, second heating zone, third heating zone) that can be controlled separately. Each zone targets specific areas (floor, wall, mirror) to provide localized heating and prevent condensation in critical areas without overheating the entire bathroom.
Solution Approach 2:
Different heating methods are applied to different locations based on their specific requirements: far-infrared heating for floors and walls, electromagnetic wave heating for mirrors. This localized approach ensures each surface receives appropriate heating to prevent condensation while maintaining overall thermal comfort.
2Object-affected harmful factors
If high-power heating is used to prevent condensation, then condensation is reduced, but energy consumption increases
Solution Approach 1:
The control system operates heating elements periodically rather than continuously. The microcontroller monitors temperature and condensation conditions, activating heating zones only when needed to maintain dew point temperature above ambient temperature, thereby preventing condensation while minimizing energy consumption.
Solution Approach 2:
The system dynamically adjusts heating parameters (power, duration, temperature setpoints) based on real-time environmental conditions such as ambient temperature, humidity, and mirror surface temperature. This adaptive control optimizes energy usage by providing heating only at the minimum level required to prevent condensation.
3Object-affected harmful factors
If multiple heating zones are implemented to prevent condensation, then condensation control improves, but system complexity increases
Solution Approach 1:
The electromagnetic wave heating element serves multiple functions: it heats the mirror surface to prevent condensation, provides localized thermal comfort, and can be integrated with the overall bathroom heating system. This multi-functionality reduces the need for separate specialized devices for each heating zone.
Solution Approach 2:
The microcontroller acts as an intermediary that coordinates control between multiple heating zones and sensors. It processes temperature and humidity data, determines which zones require heating, and adjusts power distribution accordingly, simplifying the control architecture while maintaining sophisticated multi-zone operation.
4Productivity
If electromagnetic wave heating is used for mirrors, then heating efficiency improves, but safety concerns arise regarding electromagnetic radiation
Solution Approach 1:
The electromagnetic wave heating system operates at specific frequency and power levels that optimize heating efficiency while remaining below thresholds for harmful radiation effects. The control system monitors and adjusts electromagnetic parameters to maintain safe operating conditions while achieving effective mirror heating.
Solution Approach 2:
Temperature sensors continuously monitor mirror surface temperature and provide feedback to the control system. When the mirror reaches the target temperature (above dew point), the electromagnetic heating is automatically reduced or shut off, preventing excessive electromagnetic radiation exposure while maintaining heating efficiency.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The system ensures smooth vehicle movement by minimizing jerky steering, enhancing passenger comfort and reducing wear on the steering system while maintaining safety.
Implementation Method 1
a far-infrared heating cable is laid under the floor or on the wall
Implementation Method 2
an electromagnetic wave heating element is built into the mirror
Implementation Method 3
the heating systems raise the temperature of surfaces above the dew point to prevent condensation
Data Source
Figure 1~3
Figure 4~5b
Figure 5c~5d
AI summary
A system and method of controlling a vehicle, the method including: providing waypoint data for a series of waypoints to a path controller; using the path controller to determine interpolation point data for a series of interpolation points defining a target path for the vehicle by interpolating between the waypoints; and controlling the vehicle such that the vehicle follows the target path, wherein the waypoint data includes position data and at least one of heading data, curvature data, and/or inflection data, or wherein the waypoint data includes position data and the method includes using the path controller to determine at least one of heading data, curvature data, and/or inflection data using the waypoint data, wherein curvature data represents heading data differentiated with respect to distance travelled and inflection data represents curvature data differentiated with respect to distance travelled.