Vehicle Tracking Point Placement for Speed-Adaptive Path Control
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Solution Overview
Problem
Existing vehicle control systems using tracking points for position representation suffer from issues such as slow convergence to desired paths, oscillation behavior, and poor path adherence, particularly at varying vehicle speeds.
Innovation Solution
Dynamically adapting the location of the tracking point based on vehicle speed, using methods like linear interpolation and reference speed-location mapping, to optimize vehicle control for both high and low speeds.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If a fixed tracking point location is used for vehicle control, then the system complexity is reduced, but the vehicle control performance deteriorates with slow convergence to desired path and oscillation behavior
Solution Approach 1:
The tracking point location is made dynamic by adapting it based on vehicle speed. The system transitions from a fixed tracking point to a speed-adaptive tracking point that moves along the longitudinal axis of the vehicle, resolving the contradiction between system simplicity and control stability across varying operating conditions.
Solution Approach 2:
The system changes the parameter of tracking point location based on vehicle speed. By adjusting the longitudinal position of the tracking point according to speed variations, the system maintains reliable vehicle control without requiring complex multi-point systems.
2Ease of operation
If a single tracking point location is used for all speeds, then the ease of operation is improved, but the manufacturing precision of path following deteriorates
Solution Approach 1:
The tracking point location dynamically adapts to vehicle speed, allowing the system to maintain high path following accuracy across different speeds without requiring manual reconfiguration. The tracking point automatically shifts position based on speed feedback.
Solution Approach 2:
The system uses vehicle speed as feedback to adjust the tracking point location. This closed-loop approach ensures that the tracking point remains optimally positioned for accurate path following regardless of speed variations, while maintaining ease of operation through automatic adjustment.
3Stability of the object's composition
If the tracking point location is fixed at the rear axle, then the stability at high speeds is improved, but the path adherence at low speeds deteriorates
Solution Approach 1:
The tracking point location transitions from a fixed rear axle position to a dynamic position that varies with speed. At high speeds, the tracking point remains near the rear axle for stability, while at low speeds, it shifts forward to improve path tracking accuracy, resolving the speed-dependent performance contradiction.
Solution Approach 2:
The system changes the tracking point's longitudinal position parameter based on vehicle speed. This parameter adaptation allows the system to optimize both stability and path tracking accuracy for different operating conditions without requiring separate control systems.
4Manufacturing precision
If the tracking point location is fixed at the front axle, then the path adherence at low speeds is improved, but the stability at high speeds deteriorates with oscillation behavior
Solution Approach 1:
The tracking point dynamically adjusts its position based on speed, shifting forward at low speeds to improve path tracking accuracy and moving rearward at high speeds to maintain stability. This dynamic repositioning eliminates the need to choose between the two conflicting fixed positions.
Solution Approach 2:
The system adapts the tracking point's longitudinal position parameter according to vehicle speed, allowing optimization of both path tracking accuracy and motion stability for different speed ranges within a single unified system.
Data Source
AI summary
A method of selecting a location of a tracking point for a vehicle unit of a vehicle includes dynamically adapting the location of the tracking point based on a vehicle speed. In some examples, the location of the tracking point for a relatively high speed is located (along the vehicle unit) in front of the location of the tracking point for a relatively low speed. Also disclosed is a method of determining a reference location of the tracking point for a reference speed. The method comprises evaluating vehicle motion behavior for a plurality of candidate locations of the tracking point, and selecting one of the candidate locations as the reference location based on vehicle motion behavior metric values acquired through the evaluation.