Vehicle Trajectory Control with Variable Tracking Gain
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Solution Overview
Problem
Conventional travel trajectory control devices face challenges in balancing lane keeping performance and driver override performance, as the tracking of a vehicle to a target trajectory is constant, failing to accommodate variations in driver ability and steering operation demands.
Innovation Solution
A travel trajectory control device that calculates a target steered angle for vehicles and adjusts the steered angle of steered wheels based on driver ability and trajectory change intent, allowing variable tracking settings to enhance driver override performance while maintaining lane keeping capabilities.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the tracking of vehicle to target trajectory is set high to enhance lane keeping performance, then lane keeping performance is improved, but overriding performance of steering operation deteriorates
Solution Approach 1:
The tracking parameter is changed from a fixed constant value to a dynamically adjustable parameter that can be modified in real-time based on driving conditions, driver behavior patterns, and trajectory change intent. This allows the system to adapt the tracking level between high (for lane keeping) and low (for driver override) as needed, resolving the contradiction between these two performance requirements.
Solution Approach 2:
The invention changes the tracking parameter from a fixed value to a variable parameter that can be adjusted based on different driving scenarios. By modifying the tracking parameter dynamically, the system can enhance lane keeping performance when needed while preserving driver override capability when the driver intends to change trajectory, thus resolving the technical contradiction.
2Ease of operation
If the tracking of vehicle to target trajectory is set low to ensure overriding performance of steering operation, then overriding performance is improved, but lane keeping performance deteriorates
Solution Approach 1:
The system dynamically adjusts the tracking parameter based on real-time assessment of driver intent and driving conditions. When driver override is needed, the tracking is reduced; when lane keeping is prioritized, tracking is enhanced. This dynamic adjustment resolves the contradiction by allowing both high override performance and high lane keeping performance at different times.
Solution Approach 2:
By transforming the fixed tracking parameter into a variable parameter that can be adjusted based on driving conditions and driver behavior, the system can optimize for either override performance or lane keeping performance as appropriate, resolving the technical contradiction between these opposing requirements.
3Reliability
If the tracking of vehicle to target trajectory is set high for drivers with low driving ability, then lane keeping performance is improved, but driver override performance is reduced
Solution Approach 1:
The system applies different tracking levels to different drivers based on their individual driving ability assessments. Drivers with lower driving ability receive higher tracking for enhanced lane keeping, while drivers with higher ability receive lower tracking for better override performance. This localized customization resolves the contradiction by tailoring the tracking parameter to each driver's specific needs.
Solution Approach 2:
The system continuously monitors driver behavior and steering operation patterns to assess driving ability and adjust the tracking parameter accordingly. This feedback mechanism allows the system to automatically optimize the tracking level for each driver, resolving the contradiction between lane keeping performance and override performance based on individual driver characteristics.
4Ease of operation
If the tracking of vehicle to target trajectory is set low for drivers with high driving ability, then driver override performance is improved, but lane keeping performance is reduced
Solution Approach 1:
The system customizes the tracking parameter for each driver based on their driving ability. For drivers with high driving ability, the tracking is set lower to preserve override performance, while for drivers with low ability, tracking is set higher to enhance lane keeping. This localized quality approach resolves the contradiction by matching the tracking level to the driver's specific capabilities.
Solution Approach 2:
Through continuous monitoring of driver performance and steering patterns, the system assesses driving ability and adjusts the tracking parameter accordingly. This feedback loop enables the system to automatically provide appropriate tracking levels - lower for skilled drivers to maintain override capability, and higher for less skilled drivers to improve lane keeping, thus resolving the technical contradiction.
Data Source
AI summary
Provided is a travel trajectory control device for a vehicle which executes a vehicle travel trajectory control by calculating a target steering angle corresponding to a target steered angle of the front wheels for making a vehicle travel to track a target trajectory, and controlling the steered angle of the front wheels on the basis of the target steered angle with a steered angle varying device and a power steering device. The driving ability of a driver and/or a trajectory change intent thereof are determined. On the basis of a driving ability index value and/or an index value which denotes the intensity of the trajectory change intent of the driver, the tracking of the vehicle to the target trajectory is variably set by variably setting the gain in the travel trajectory control.