Vehicle Trajectory Control Using Mathematical Simulation
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Solution Overview
Problem
Existing vehicle control systems fail to effectively predict and manage complex and critical driving dynamics, particularly in terms of safety and comfort, during automated or partly automated driving, as they do not adequately account for environmental and driving state data in real-time, leading to potential safety and comfort issues.
Innovation Solution
A method that determines trajectories based on environmental and driving state data using a mathematical vehicle model, simulating vehicle movement to predict future driving states and adjust actuator control accordingly, ensuring safety and comfort by modifying or rejecting trajectories as necessary, and incorporating actuators to intervene in steering, braking, and chassis adjustments.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If a trajectory is determined based on environmental and driving state data for automated vehicle movement, then the vehicle can move automatically along the trajectory, but the system cannot effectively predict and manage complex and critical driving dynamics, leading to potential safety and comfort issues
Solution Approach 1:
The patent applies preliminary action by calculating driving state quantities in advance using a mathematical vehicle model before the vehicle actually travels the trajectory. The control device simulates vehicle movement along the trajectory and computes driving state quantities (longitudinal acceleration, lateral acceleration, jerk) for future time periods, enabling predictive assessment of safety and comfort conditions before they occur in real driving
Solution Approach 2:
The patent implements feedback by using calculated driving state quantities from the mathematical model to evaluate the trajectory and generate control signals. The control device continuously monitors simulated driving state quantities, compares them against safety and comfort criteria, and adjusts actuator control accordingly, creating a closed-loop feedback system that ensures reliable automated vehicle movement
2Productivity
If the vehicle moves automatically along a determined trajectory, then automated driving is achieved, but complex and critical driving dynamics cannot be adequately managed in real-time
Solution Approach 1:
The patent introduces a mathematical vehicle model as an intermediary between the trajectory determination and actual vehicle control. This model acts as a simulation environment that computes driving state quantities without requiring real-time physical measurement, enabling the system to analyze complex driving dynamics (acceleration, jerk, lateral forces) that would be difficult to detect and measure directly in real-time operation
Solution Approach 2:
The patent replaces direct real-time measurement of complex driving dynamics with a mathematical computation approach. Instead of using complex sensor systems to measure acceleration and jerk in real-time, the system substitutes these physical measurements with calculations based on the mathematical vehicle model and trajectory data, simplifying the detection and measurement process while maintaining accuracy
Data Source
AI summary
In a method for automatic movement controlling of a vehicle, at least one trajectory is determined on the basis of environmental and driving state data, and driving state quantities are subsequently calculated for an upcoming time period, using a mathematical vehicle model, taking the trajectory as a basis.