Vehicle Steering Control via Virtual Road Shape
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Solution Overview
Problem
Conventional vehicle behavior control systems face challenges in accurately controlling the steering angle, particularly due to complex apparatus configurations, inaccuracies in calculating curve road curvature radius, and inability to function without road borders or facilities.
Innovation Solution
A vehicle behavior control apparatus that utilizes vehicle-to-vehicle communication to determine a virtual road shape and calculate curvature radius, enabling accurate steering angle control by maintaining an appropriate distance from virtual road borders, even in the absence of physical road borders or facilities.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If two CCD cameras and a stereo image processor are used to calculate curve road curvature radius, then the curvature radius can be determined through image processing, but the apparatus configuration becomes complex and processing becomes complicated
Solution Approach 1:
The patent replaces the mechanical/optical system of CCD cameras and stereo image processors with an electromagnetic field-based radar system. The radar detects road borders and facilities using electromagnetic waves, calculates distances and curvature radii through signal processing, thereby simplifying the apparatus configuration while maintaining measurement precision for curvature radius determination.
Solution Approach 2:
The patent extracts the essential function of curvature radius determination from the complex stereo vision system and implements it independently through radar-based distance measurement to road borders. By separating the curvature calculation function from the imaging system, the patent achieves simpler apparatus configuration while preserving the ability to accurately determine curve road curvature radius.
2Ease of operation
If map information is used to calculate curve road curvature radius, then the steering angle can be controlled based on pre-stored data, but the accuracy is insufficient due to lack of precision in map information
Solution Approach 1:
The patent implements a feedback mechanism where the radar continuously detects actual road border positions and facilities, and the control unit adjusts the steering angle based on real-time curvature radius measurements. This closed-loop feedback system ensures both ease of operation through automated control and high measurement precision by using actual detected data rather than pre-stored map information.
3Measurement precision
If radar detection of road border distance is used to calculate curvature radius, then the steering angle control can be performed based on detected data, but the control becomes inappropriate when road border or facility does not exist or cannot be recognized
Solution Approach 1:
The patent makes the radar system multi-functional by enabling it to detect both road borders and road facilities (such as guardrails, signs, or other reference objects). The control unit is designed to selectively use either road border detection or facility detection based on which target is available, allowing the system to maintain accurate steering angle control across diverse road conditions including curves where traditional road borders may be absent.
Data Source
AI summary
A vehicle behavior control apparatus disposed in a subject vehicle performs a steering angle control of the subject vehicle. The apparatus acquires lead vehicle information transmitted from a lead vehicle to determine a virtual shape of a road (i.e., a virtual road shape) based on a travel locus of the lead vehicle. A virtual road border distance is calculated as a distance from the subject vehicle to a road border of a virtual curve road positioned straight in front of the subject vehicle. The apparatus, calculates an appropriate turn radius for travel along the virtual curve road and, based on the appropriate turn radius, calculates an appropriate distance from the subject vehicle to the virtual road border positioned in front of the subject vehicle. A steering unit then controls a steering angle of the subject vehicle by maintaining the virtual road border distance with the appropriate distance.