Vehicle Steering Control with Dynamic Modeling for Smooth Startup
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Solution Overview
Problem
Conventional travel control systems struggle to accurately calculate the steering angle for a vehicle to follow a target trajectory, especially when the weight and center of gravity of the vehicle change, leading to reduced accuracy and potential deviation from the target trajectory.
Innovation Solution
A driving control apparatus that acquires real-time vehicle state parameters, generates a dynamic vehicle model, and calculates an optimal steering angle using an evaluation function that minimizes or maximizes estimated lateral and azimuth deviations, while adjusting weighting coefficients to prioritize driver comfort during initial vehicle startup.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If a conventional vehicle model with fixed weight and center of gravity is used, then the device complexity is reduced, but the manufacturing precision of trajectory following deteriorates
Solution Approach 1:
The patent applies dynamics by transitioning from a static vehicle model with fixed parameters to a dynamic model that adapts to changing vehicle conditions. The system dynamically adjusts the vehicle model based on detected weight and center of gravity changes, allowing the control system to maintain high trajectory following precision regardless of passenger or cargo variations.
Solution Approach 2:
The patent implements parameter changes by modifying the vehicle model parameters (weight and center of gravity position) based on actual vehicle conditions. The system detects changes in these parameters and updates the vehicle model accordingly, enabling accurate trajectory following even when the vehicle load varies from the initial configuration.
2Manufacturing precision
If a steering angle is calculated to minimize evaluation function output, then the trajectory following precision is improved, but the driver feeling deteriorates during initial startup
Solution Approach 1:
The patent applies preliminary action by implementing a warm-up period before the full trajectory following control is activated. During this initial period, the system limits the rate of change of the steering angle to prevent abrupt movements that would deteriorate driver feeling. After the warm-up period expires, the system transitions to normal operation where trajectory following precision is prioritized.
3Manufacturing precision
If the vehicle model parameters are updated in real-time, then the trajectory following precision is improved, but the device complexity increases
Solution Approach 1:
The patent implements self-service by enabling the vehicle system to automatically detect and update its own parameters without external intervention. The onboard sensors detect changes in weight and center of gravity, and the control system automatically adjusts the vehicle model parameters accordingly, eliminating the need for manual parameter input or complex external calibration systems.
Data Source
AI summary
A driving control apparatus includes: a generating part that generates, with a predetermined control period, a vehicle model; and a calculating part that calculates, as an optimal steering angle, a steering angle that minimizes or maximizes an output value of an evaluation function including an estimated lateral deviation, an estimated azimuth deviation, a steering angle, and a change amount of the steering angle from the immediately preceding control period, calculated based on the vehicle model. The calculating part causes the coefficient of the term corresponding to the change amount after an initial period has passed from when the vehicle started to be smaller than the weighting coefficient of the term corresponding to the change amount up to when the predetermined initial period has passed from when the vehicle started.