Lane-Keeping Steering Control Using Virtual Lanes Under Crosswind Disturbance
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Solution Overview
Problem
Conventional lane keeping assistance systems in vehicles fail to prevent unnatural behavior when subjected to strong lateral disturbances such as gusts, leading to potential driver discomfort.
Innovation Solution
A vehicle with a lane keeping assistance system that divides the lane into multiple virtual lanes and controls the vehicle to stay within one of these lanes, using yaw angle feedback and lateral position feedback to maintain stability and suppress unnatural behavior.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the vehicle performs steering control to counteract strong lateral disturbance, then the vehicle can maintain lane position, but the driver experiences unnatural behavior
Solution Approach 1:
The lane is divided into multiple virtual lanes (e.g., three virtual lanes: left, center, right) along the width direction. The control device determines which virtual lane the vehicle should travel in based on the yaw angle, allowing the vehicle to maintain position within a broader zone rather than rigidly at the center, thus reducing unnatural corrections while maintaining lane discipline.
Solution Approach 2:
The control strategy changes based on the yaw angle parameter. When the yaw angle is within a predetermined range, the vehicle maintains center lane position. When the yaw angle exceeds this range, the vehicle transitions to maintaining position at the left or right virtual lane boundary. This parameter-based switching allows smooth adaptation to disturbances without abrupt steering corrections.
2Measurement precision
If the vehicle maintains strict lane center position, then lane keeping precision is improved, but vehicle stability under disturbance deteriorates
Solution Approach 1:
The target lane position is made dynamic rather than fixed. The control device dynamically selects between three target positions (left virtual lane boundary, center lane position, right virtual lane boundary) based on the current yaw angle. This dynamic adjustment allows the vehicle to adapt to disturbance conditions while maintaining stable lane keeping overall.
Data Source
AI summary
This vehicle includes a lane keeping assistance system and a control device which controls steering of the vehicle, wherein the control device divides a width of a lane in which the vehicle travels into a plurality of virtual lanes and controls the vehicle so that the vehicle travels in one virtual lane among the plurality of virtual lanes. The control device controls the vehicle so that a traveling position of the vehicle is returned to an inside of the one virtual lane when the vehicle traveling in the one virtual lane is about to deviate from the inside of the one virtual lane.