Vehicle Path Tracking with Dynamic Yaw Rate Steering Correction
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Solution Overview
Problem
Conventional vehicle path tracking systems fail to consider dynamic variations during correction, leading to unstable vehicle steering and increased risk of rollover due to excessive and frequent adjustments.
Innovation Solution
The method involves acquiring vehicle instant information, developing a predictive path, determining a yaw rate threshold, calculating a steering angle, and estimating a lateral error correction value to control the vehicle's steering, ensuring the steering angle does not exceed a rational error correction threshold, thereby stabilizing vehicle steering and reducing the risk of rollover.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the controller compares the error between the target path and the real path and calculates a turning angle to adjust the moving path, then the vehicle can follow the target path, but the vehicle steering becomes unstable and the risk of rollover increases due to excessive and frequent adjustments
Solution Approach 1:
The system performs preliminary action by predicting the vehicle's future position and calculating the predicted path before executing path correction. The controller acquires vehicle instant information (position, speed, yaw rate) and uses this to predict where the vehicle will be, then plans the correction path in advance rather than reacting to current error alone. This prevents excessive and frequent steering adjustments by preparing the correction ahead of time.
Solution Approach 2:
The system applies dynamics by determining a vehicle yaw rate threshold value based on vehicle instant information and using this dynamic threshold to control the steering angle. The yaw rate threshold is calculated in real-time according to the vehicle's current state (speed, position), making the path correction adaptive to dynamic conditions. This ensures that steering adjustments remain within safe limits while still achieving path tracking.
2Productivity
If the vehicle changes the path during the correction procedure to move back to the target path, then the vehicle can correct the deviation, but the vehicle changes the path too much and has to perform the correction procedure one more time
Solution Approach 1:
The system implements feedback by continuously acquiring vehicle instant information (position, speed, yaw rate) and using this information to adjust the path correction. The controller monitors the vehicle's state during correction and uses the predicted path to evaluate whether the correction is proceeding appropriately. This feedback mechanism prevents over-correction by comparing the predicted trajectory with the target path and adjusting the steering angle accordingly.
Solution Approach 2:
The system changes parameters by determining the steering angle based on the vehicle yaw rate threshold value and the error between the target path and the predictive path. The steering angle is calculated as a function of multiple parameters including the lateral error correction value and the yaw rate threshold, rather than being a fixed value. This parameter-based approach allows the system to achieve path correction in a single procedure by precisely controlling the steering angle according to real-time vehicle state.
3Measurement precision
If the vehicle performs path correction based on error between target path and real path, then the vehicle can track the target path, but the movement of the vehicle occurs obviously and frequently in a short time causing passenger discomfort
Solution Approach 1:
The system performs preliminary action by calculating the predicted path and determining the steering angle before executing the correction. The controller uses vehicle instant information to predict where the vehicle will be and plans the correction trajectory in advance, smoothing out the correction process rather than making abrupt adjustments. This preliminary planning reduces frequent and obvious vehicle movements, improving passenger comfort while maintaining path tracking accuracy.
Solution Approach 2:
The system changes parameters by calculating the steering angle as a function of the lateral error correction value and the vehicle yaw rate threshold. The steering angle is determined based on the error between the target path and the predictive path, adjusted by the dynamic yaw rate threshold. This parameter-based control smooths the correction by continuously adjusting the steering angle according to vehicle state, reducing abrupt movements and improving passenger comfort.
Data Source
AI summary
A method for vehicle path tracking with error correction comprises steps of: acquiring vehicle instant information and a target path; developing a predictive path in accordance with the vehicle instant information; determining a vehicle yaw rate threshold value in accordance with the vehicle instant information; calculating a steering angle corresponding to the vehicle yaw rate threshold value; estimating a lateral error correction value corresponding to the steering angle; determining whether the lateral error correction value is not greater than an error value between the target path and the predictive path; controlling a vehicle to turn the steering angle corresponding to the lateral error correction value when the lateral error correction value is less than the error value; and controlling the vehicle to turn the steering angle corresponding to the error value when the lateral error correction value is greater than the error value.