Autonomous Vehicle Steering Compensation for Lateral Control Errors
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Solution Overview
Problem
Existing autonomous driving systems face challenges in accurately controlling lateral and longitudinal movements due to disturbances and errors in steering commands, particularly from wheel alignment and model inaccuracies, which affect the vehicle's ability to navigate smoothly and safely.
Innovation Solution
A vehicle control apparatus and method that compensates steering commands using a receiver and controller to process data from sensors, calculate tire angles, and apply filtering techniques to correct for biases and disturbances based on vehicle states, including speed, acceleration, yaw rate, and steering angle, utilizing an inverse vehicle model and low-pass filtering.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If steering commands are generated based on trajectory planner and vehicle model, then lateral control is achieved, but errors and disturbances accumulate due to wheel alignment and model inaccuracies
Solution Approach 1:
The patent implements a feedback mechanism where the actual vehicle state (position, orientation, speed) is continuously measured and compared with the expected state from the trajectory planner. The deviation between actual and expected states is used to generate compensation values that correct the steering commands, thereby eliminating accumulated errors from wheel alignment and model inaccuracies.
Solution Approach 2:
The patent replaces pure model-based steering command generation with a hybrid approach that substitutes mathematical vehicle models with actual sensor measurements. By using measured vehicle states instead of model-predicted states, the system eliminates errors arising from model inaccuracies and wheel alignment deviations.
2Measurement precision
If steering commands are compensated using vehicle movement state, then navigation accuracy is improved, but system complexity increases due to additional sensors and calculations
Solution Approach 1:
The patent makes existing vehicle sensors serve multiple functions: the same sensors that provide data for trajectory planning and collision avoidance are also used for steering command compensation. This multi-functionality approach avoids adding dedicated hardware while achieving improved control precision through unified data processing.
Solution Approach 2:
The system uses the vehicle's own movement state data, generated naturally during normal operation, to compensate for control errors. Instead of requiring external calibration equipment or additional measurement systems, the vehicle self-corrects its steering commands using data from its existing sensor suite and control loop.
3Stability of the object's composition
If filtering is applied to yaw rate and disturbance values, then control stability is enhanced, but response time increases due to processing delays
Solution Approach 1:
The patent applies filtering selectively rather than uniformly across all control parameters. High-pass filtering is applied only to disturbance values and specific sensor signals that benefit from noise reduction, while raw unfiltered data is maintained for high-speed response paths. This partial filtering approach achieves stability enhancement without imposing processing delays on time-critical control loops.
Solution Approach 2:
The control system is segmented into different processing paths: a fast path that uses minimal filtering for immediate steering responses, and a slow path that applies comprehensive filtering for stability-critical parameters like disturbance compensation. This segmentation allows the system to maintain both rapid response capability and control stability simultaneously.
Data Source
AI summary
A vehicle control apparatus and method are disclosed. A vehicle control apparatus for autonomous driving includes a receiver configured to receive a local path based on a trajectory planner, and a controller configured to generate a steering command for lateral control of the vehicle based on the local path, generate a compensated steering command by compensating the steering command based on a movement state of a vehicle to be controlled, and control the vehicle based on the compensated steering command.