Autonomous Vehicle Control for Joint Steering and Braking Stability
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing automatic emergency steering systems in vehicles face challenges in high-dynamic obstacle avoidance maneuvers, leading to vehicle instability and difficulty in maintaining control due to simultaneous steering and braking actions, which can exceed controllability limits.
Innovation Solution
A method that integrates lateral and longitudinal control setpoints using a single corrector to stabilize vehicle dynamics during obstacle avoidance, allowing simultaneous steering and braking via actuators, ensuring accurate path tracking and stability by modeling the vehicle's non-linear dynamics and linearizing the model for a wide range of reference paths.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If high-dynamic avoidance maneuvers are performed with simultaneous steering and braking actions, then obstacle avoidance capability is improved, but vehicle stability deteriorates and controllability is lost
Solution Approach 1:
The control system segments the avoidance maneuver into two distinct components: lateral control (steering) and longitudinal control (braking). The corrector computes a lateral control setpoint for steering actuators and a longitudinal control setpoint for braking actuators separately, then applies them independently through their respective actuators. This segmentation prevents the destabilizing interaction that occurs when steering and braking are applied simultaneously through a single control channel.
2Device complexity
If a single corrector is used to jointly compute lateral and longitudinal control setpoints, then device complexity is reduced, but control precision deteriorates
Solution Approach 1:
While using a single corrector device, the system segments the control computation into distinct lateral and longitudinal control setpoints. The corrector receives state information and outputs separate control commands for steering (lateral) and braking (longitudinal), which are then applied through independent actuator channels. This maintains computational simplicity while achieving precise control by preventing the coupling of lateral and longitudinal control actions.
3Ease of operation
If lateral and longitudinal controls are coupled through a single corrector, then ease of operation is improved, but path tracking precision deteriorates
Solution Approach 1:
The system simplifies operation by using a single corrector to manage both lateral and longitudinal controls, yet maintains path tracking precision by segmenting the control outputs into separate lateral (steering) and longitudinal (braking) commands. This segmentation ensures that each control action is optimized for its specific direction without interference from the other, allowing accurate path following even during complex avoidance maneuvers.
Data Source
AI summary
The invention relates to a method for autonomously controlling actuators of an automotive machine (10) which are adapted to influence the path and the speed of said automotive machine, including steps of:acquiring a reference path that said automotive machine should follow,determining a nominal value of at least one parameter enabling the automotive machine to follow the reference path,determining a current value of each of said parameters when said automotive machine follows the reference path,determining a value difference between the current value and the nominal value of each of said parameters, thencomputing, with a computer, a control setpoint for each actuator, according to each value difference, by means of a corrector.According to the invention, the corrector allows jointly computing an exclusively lateral control setpoint of the automotive machine and an exclusively longitudinal control setpoint of the automotive machine.