Vehicle Trajectory Control Using Transverse Disturbance Estimation
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Solution Overview
Problem
Existing vehicle control systems struggle to accurately estimate disturbances such as transverse road slopes and crosswinds, leading to deviations from the target trajectory during autonomous driving, which affects the performance of trajectory tracking.
Innovation Solution
A vehicle control system that acquires positional differences between the target and actual trajectories, estimates the amount of disturbance using this information, and generates control commands to correct the vehicle's path, incorporating methods like model predictive control and transverse slope correction to enhance trajectory tracking.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If disturbance estimation is performed based on vehicle motion information (speed, lateral acceleration, yaw rate), then the estimation process can be implemented, but the estimation accuracy is insufficient and cannot prevent trajectory deviation
Solution Approach 1:
The patent implements feedback by acquiring the actual trajectory of the vehicle, comparing it with the target trajectory to calculate transverse deviation, and using this deviation information to estimate disturbance amounts. This closed-loop feedback mechanism enables accurate disturbance estimation that directly reflects the vehicle's actual trajectory error, thereby improving both measurement precision and trajectory tracking reliability.
Solution Approach 2:
The patent introduces transverse deviation as an intermediary parameter that mediates between the target trajectory and actual trajectory. By using this intermediary to estimate disturbance amounts, the system achieves accurate disturbance detection without directly measuring physical disturbances, resolving the contradiction between estimation feasibility and accuracy.
2Measurement precision
If transverse slope correction is applied to compensate for road gradients, then trajectory tracking accuracy improves, but the system complexity increases
Solution Approach 1:
The patent merges transverse slope correction with the existing disturbance estimation and trajectory control processes. By integrating slope correction into the unified disturbance estimation framework based on transverse deviation, the system improves trajectory tracking accuracy while avoiding the complexity of separate correction systems, as the same feedback mechanism handles both slope compensation and general disturbance correction.
Data Source
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AI summary
A vehicle control apparatus, a vehicle control method, and a vehicle control system according to the present invention each acquire information related to a positional difference in a transverse direction between a target trajectory of a vehicle and an actual trajectory of the vehicle, estimate an amount of disturbance corresponding to the positional difference in the transverse direction by using the information related to the positional difference in the transverse direction, and obtain a control command by using the amount of disturbance as an aspect thereof. The control command is for causing the vehicle to track the target trajectory. This makes it possible to accurately estimate the amount of disturbance and increase the performance of tracking the target trajectory.