Automated Vehicle Ridge Avoidance via Steering Torque
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Automated and human-driven vehicles face difficulties in maintaining a straight trajectory when encountering ridges on the road surface, particularly those with sudden changes in height or type, which can cause unexpected swerving or loss of control.
Innovation Solution
A system equipped with perception sensors such as cameras, lidar, radar, and ultrasonic transducers, along with an inertial measurement unit and map database, detects surface changes to anticipate and navigate ridges by adjusting steering torque and vehicle positioning to avoid trajectory deflection, using color, height, and surface type indicators.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If the vehicle drives over a ridge caused by sudden change in road type/height, then the vehicle can maintain forward motion, but the vehicle experiences trajectory deflection and may lose control
Solution Approach 1:
The system performs preliminary detection of ridges using perception sensors (camera, lidar, radar) before the vehicle reaches them. The controller anticipates the ridge's location and characteristics, then proactively adjusts steering torque and vehicle positioning to prepare for optimal crossing, preventing trajectory deflection before it occurs
Solution Approach 2:
The system applies preliminary counter-steering torque through the steering system to counteract the expected deflection force from the ridge. By detecting ridge attributes (direction, angle, height) in advance, the controller pre-applies opposing steering torque to neutralize the ridge's deflecting effect, maintaining vehicle control
2Reliability
If the vehicle steers to avoid the ridge, then trajectory deflection is prevented, but the vehicle requires additional steering input and control complexity
Solution Approach 1:
The system uses the vehicle's existing perception sensors (camera, lidar, radar) and control actuators (steering torque, positioning) to autonomously detect, analyze, and respond to ridges. The controller integrates data from multiple sensors and automatically adjusts steering without requiring external intervention or complex additional hardware
Solution Approach 2:
The system employs multi-functional perception sensors that serve multiple purposes: detecting ridge location, determining surface type, measuring height changes, and identifying ridge orientation. The same sensors and controller used for general navigation also handle ridge detection and response, eliminating the need for specialized dedicated systems
3Speed
If the vehicle crosses the ridge at a grazing angle, then forward progress is maintained, but the deflection effect is maximized
Solution Approach 1:
The system dynamically adjusts the vehicle's crossing angle based on real-time ridge detection. When a ridge is detected at a grazing angle, the controller dynamically changes the steering trajectory to increase the crossing angle, making the vehicle cross more perpendicular to the ridge. This dynamic trajectory adjustment minimizes deflection while maintaining forward progress
Solution Approach 2:
The system changes the steering angle parameter in response to detected ridge characteristics. By analyzing the ridge's orientation and height, the controller modifies the steering angle to optimize the crossing trajectory, transforming the harmful grazing-angle interaction into a controlled perpendicular crossing that reduces deflection forces
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
Effectively prevents swerving and loss of control by anticipating and mitigating the effects of ridges through precise navigation and control adjustments, enhancing safety and stability for both automated and human-operated vehicles.
Implementation Method 1
The ridge may be detected based on changes in surface color which may be indicative of different types of asphalt, concrete, etc. on either side of a ridge. The system may use a camera to detect ridge boundary edge
Implementation Method 2
The system may use a lidar to detect surface type and confirm surface ridge boundary edge
Implementation Method 3
a ridge may be detected based on changes in surface height of travel-surface traveled by the host-vehicle. The system may use perception sensors (camera, lidar, radar, ultrasonic transducer) to detect raised edges along surface ridge boundary
Implementation Method 4
The system may also use an inertial-measurement-unit (IMU) and/or a map database with road slope/camber information to detect differences in the vehicle tilt when straddling a ridge
Data Source
AI summary
A system for operating an automated vehicle includes a perception-sensor and a controller. The perception-sensor is configured to detect a ridge in a travel-surface traveled by a host-vehicle. The controller is in communication with the perception-sensor. The controller is configured to operate the host-vehicle to avoid a trajectory-deflection of the host-vehicle when a tire of the host-vehicle encounters the ridge.