Vehicle Running Control Apparatus Dynamic Target Adjustment
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Solution Overview
Problem
Existing vehicle running control systems face challenges in maintaining stability and following a target path, especially under high-speed conditions, sharp curves, or low road friction due to rain or snow, leading to potential deviations and undesirable sudden acceleration/deceleration or steering.
Innovation Solution
A vehicle running control apparatus that includes a running state obtaining unit, a target setting unit, a deviation obtaining unit, and a correction unit, which dynamically adjusts the target running state to match the actual state, preventing excessive control and enhancing stability by providing adaptive support control based on real-time data from sensors and external conditions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If a great control amount is applied to correct large deviation, then the vehicle can more quickly return to the target path, but the vehicle may experience sudden acceleration/deceleration or steering which is undesirable
Solution Approach 1:
The control amount is dynamically adjusted based on the magnitude of deviation from the target path. When deviation is large, a greater control amount is applied to achieve faster convergence. When deviation is small, the control amount is reduced to prevent excessive control and maintain stability. This dynamic adjustment resolves the contradiction between fast correction and stable operation.
Solution Approach 2:
The control system changes the control parameter (control amount) based on the deviation magnitude. By varying the control amount as a function of deviation, the system achieves both fast response when needed and gentle control when the vehicle is near the target path, resolving the contradiction between convergence speed and stability.
2Stability of the object's composition
If the vehicle follows a preset target running state strictly, then scheduled running is achieved, but when deviation is great, the vehicle cannot sufficiently follow the target path
Solution Approach 1:
The target running state is dynamically adjusted based on the deviation magnitude. When deviation is small, the system maintains strict adherence to the preset target path for scheduled running. When deviation is large, the system relaxes the target path constraint to allow the vehicle to follow the adjusted target more easily, improving path following capability while maintaining stability during normal operation.
Solution Approach 2:
Instead of keeping the target path fixed and requiring the vehicle to follow it strictly, the system inverts the approach by adjusting the target path to match the vehicle's actual state when deviation is large. This allows the vehicle to naturally follow the target without excessive control effort, resolving the contradiction between scheduled running and path following capability.
3Measurement precision
If control is performed based on coefficient of friction estimation, then convergence of steering angle is improved, but under low friction conditions (rain, snow), the vehicle still cannot sufficiently follow the target path
Solution Approach 1:
The control system dynamically adjusts the control amount based on the magnitude of deviation rather than relying solely on friction coefficient estimation. This allows the system to maintain effective control under varying friction conditions by adapting the control effort to the actual deviation, improving reliability under adverse conditions while preserving steering angle control precision.
Data Source
AI summary
A vehicle running control apparatus capable of enabling a vehicle to more easily follow a target running state and improving the running stability of the vehicle is provided. A running state obtaining unit obtains the actual running state (actual running path or running position) of a vehicle. A target running state setting unit sets the target running state (target path or target position) of the vehicle. A deviation obtaining unit obtains a deviation of the actual running state from the target running state. A running support controller performs running support control of the vehicle such that the running state of the vehicle becomes identical or closer to the target running state. At this time, a correction unit makes the target running state closer to the actual running state as the deviation becomes greater.