System and method for steering wheel control during autonomous steering of a vehicle

Abstract

Systems and methods for steering wheel control during autonomous steering of a vehicle are provided. Systems and methods for maintaining a steering wheel position during autonomous vehicle steering are provided. The system includes a road wheel actuator configured to turn a wheel of the vehicle and thereby adjust a road wheel angle, a steering wheel actuator configured to rotate a steering wheel of the vehicle and thereby adjust a steering wheel angle, and a controller configured to, by one or more processors: maintain the steering wheel in a rest position when the vehicle is operating in an autonomous mode, wherein steering is controlled by the vehicle; determine a switch from the autonomous mode to a manual mode in which steering is controlled by a driver using the steering wheel; and perform a synchronization process configured to synchronize the steering wheel angle and the road wheel angle by using the road wheel actuator and / or the steering wheel actuator according to a predetermined steering ratio.

Description

Technical Field

[0001] The technical field generally relates to vehicle systems, and more specifically to autonomous vehicle operation configured to maintain a static steering wheel position during autonomous vehicle steering. Background Technology

[0002] Modern vehicles are becoming increasingly automated, meaning they offer driving control with minimal driver intervention. Typically, autonomous vehicles are those capable of sensing their environment and navigating with little or no user input. Autonomous vehicles can use sensing devices such as radar, lidar, and image sensors to perceive their environment. They can also use information from Global Positioning System (GPS) technology, navigation systems, vehicle-to-vehicle communications, vehicle-to-infrastructure technology, and / or drive-by-wire systems for navigation.

[0003] Vehicle automation has been categorized into different numerical levels ranging from zero (corresponding to no automation with full human control) to five (corresponding to full automation with no human control). Various automated driver assistance systems (such as cruise control, adaptive cruise control, and parking assistance systems) correspond to lower levels of automation, while truly “driverless” vehicles correspond to higher levels of automation.

[0004] As the industry transitions to autonomous vehicles, various opportunities may arise to improve the user experience during autonomous vehicle operation. Accordingly, systems and methods that promote a positive user experience during autonomous vehicle operation have been desired. Furthermore, other desirable features and characteristics of this disclosure will become apparent from the accompanying drawings and the foregoing introduction, based on the subsequent detailed description and appended claims. Summary of the Invention

[0005] A method is provided for maintaining a static steering wheel position during autonomous vehicle steering. In one example, the method includes: maintaining the steering wheel of the vehicle's steer-by-wire system in a stationary position when the vehicle is operating in an autonomous mode, wherein the vehicle's steering is controlled by the vehicle's controller; determining to switch steering control from an autonomous mode to a manual mode, in which the vehicle's steering is controlled by the vehicle's driver using the steering wheel; and performing a synchronization process configured to synchronize the steering wheel angle and the driving wheel angle according to a predetermined steering ratio.

[0006] In various examples, performing the synchronization process may include rotating the vehicle's wheels via drive wheel actuators to adjust the drive wheel angle toward the steering wheel angle.

[0007] In various examples, performing the synchronization process may include turning the steering wheel via a steering wheel actuator to adjust the steering wheel angle toward the driving wheel angle.

[0008] In various examples, the method may include: monitoring driver control of the steering wheel; during the synchronization process, in response to determining that the driver does not have control of the steering wheel, rotating the steering wheel via a steering wheel actuator to adjust the steering wheel angle toward the driving wheel angle; and in response to determining that the driver has gained control of the steering wheel or in response to determining that the steering wheel angle and the driving wheel angle are synchronized according to a predetermined steering ratio, stopping the rotation of the steering wheel. In various examples, the method may include: after stopping the rotation of the steering wheel, in response to determining that the steering wheel angle and the driving wheel angle are not synchronized, rotating the wheels of the vehicle via a driving wheel actuator to adjust the driving wheel angle toward the steering wheel angle.

[0009] In various examples, the method may include: monitoring the rotational speed of the steering wheel while the driver has control of the steering wheel and during the synchronization process; suspending the execution of the synchronization process in response to the steering wheel rotational speed being greater than a threshold; maintaining the current steering ratio while the synchronization process is suspended; and resuming the execution of the synchronization process in response to the steering wheel rotational speed being less than the threshold.

[0010] In various examples, the method may include modifying the steering ratio during the synchronization process to speed up the execution of the synchronization process.

[0011] In various examples, the method may include generating a notification indicating that a synchronization process is being performed while the synchronization process is being executed.

[0012] A system is provided for maintaining a static steering wheel position during autonomous vehicle steering in a vehicle with a steer-by-wire system. In one example, the system includes: a driving wheel actuator configured to rotate the wheels of the vehicle and thereby adjust the driving wheel angle; a steering wheel actuator configured to rotate the steering wheel of the vehicle and thereby adjust the steering wheel angle; and a controller functionally coupled to the driving wheel actuator and the steering wheel actuator. The controller is configured to, via one or more processors, maintain the steering wheel in a stationary position when the vehicle is operated in an autonomous mode, wherein the steering of the vehicle is controlled by the vehicle; determine to switch steering control from the autonomous mode to a manual mode, in which the steering of the vehicle is controlled by the driver of the vehicle using the steering wheel; and perform a synchronization process configured to synchronize the steering wheel angle and the driving wheel angle according to a predetermined steering ratio, wherein the synchronization process uses the driving wheel actuator and / or the steering wheel actuator to synchronize the steering wheel angle and the driving wheel angle.

[0013] In various examples, the system's controller can be configured to, via one or more processors, rotate the wheels via the driving wheel actuators during the synchronization process to adjust the driving wheel angle toward the steering wheel angle.

[0014] In various examples, the system's controller can be configured to, via one or more processors, rotate the steering wheel via a steering wheel actuator during the synchronization process to adjust the steering wheel angle toward the driving wheel angle.

[0015] In various examples, the controller of the system can be configured, via one or more processors, to: monitor the driver's control of the steering wheel; during the synchronization process, in response to determining that the driver does not have control of the steering wheel, rotate the steering wheel via a steering wheel actuator to adjust the steering wheel angle toward the driving wheel angle; and in response to determining that the driver has gained control of the steering wheel or in response to determining that the steering wheel angle and the driving wheel angle are synchronized according to a predetermined steering ratio, stop the rotation of the steering wheel. In various examples, the controller of the system can also be configured, via one or more processors, after stopping the rotation of the steering wheel, in response to determining that the steering wheel angle and the driving wheel angle are not synchronized, rotate the wheels via a driving wheel actuator to adjust the driving wheel angle toward the steering wheel angle.

[0016] In various examples, the controller of the system can be configured, through one or more processors, to: monitor the rotational speed of the steering wheel when the driver has control of the steering wheel and during the synchronization process; suspend the synchronization process in response to the steering wheel rotational speed being greater than a threshold; maintain the current steering ratio while the synchronization process is suspended; and resume the synchronization process in response to the steering wheel rotational speed being less than a threshold.

[0017] In various examples, the system's controller can be configured, through one or more processors, to modify the steering ratio during the synchronization process to speed it up.

[0018] In various examples, the system's controller can be configured, through one or more processors, to generate a notification indicating that a synchronization process is in progress.

[0019] In one example, a vehicle is provided, comprising: wheels rotatably coupled to a vehicle frame; a steering wheel configured to rotate and thereby turn the wheels via a steer-by-wire system; a driving wheel actuator configured to turn the wheels and thereby adjust the driving wheel angle; a steering wheel actuator configured to rotate the steering wheel and thereby adjust the steering wheel angle; and a controller functionally coupled to the driving wheel actuator and the steering wheel actuator. The controller is configured to, via one or more processors: maintain the steering wheel in a stationary position when the vehicle is operated in an autonomous mode, wherein the steering of the vehicle is controlled by the vehicle; determine to switch steering control from the autonomous mode to a manual mode, in which the steering of the vehicle is controlled by the driver of the vehicle using the steering wheel; and perform a synchronization process configured to synchronize the steering wheel angle and the driving wheel angle according to a predetermined steering ratio, wherein the synchronization process uses the driving wheel actuator and / or the steering wheel actuator to synchronize the steering wheel angle and the driving wheel angle.

[0020] In various examples, the vehicle's controller can be configured to, via one or more processors, rotate the wheels via wheel actuators to adjust the wheel angle toward the steering wheel angle during the synchronization process; and rotate the steering wheel via steering wheel actuators to adjust the steering wheel angle toward the wheel angle during the synchronization process.

[0021] In various examples, the vehicle's controller can be configured to, via one or more processors: monitor the driver's control of the steering wheel; during a synchronization process, in response to determining that the driver does not have control of the steering wheel, rotate the steering wheel via a steering wheel actuator to adjust the steering wheel angle toward the driving wheel angle; in response to determining that the driver has gained control of the steering wheel or in response to determining that the steering wheel angle and the driving wheel angle are synchronized according to a predetermined steering ratio, stop rotating the steering wheel; and after stopping the rotation of the steering wheel, in response to determining that the steering wheel angle and the driving wheel angle are not synchronized, rotate the wheels via a driving wheel actuator to adjust the driving wheel angle toward the steering wheel angle.

[0022] In various examples, the vehicle's controller can be configured, via one or more processors, to: monitor the steering wheel's rotational speed when the driver has control of the steering wheel and during the synchronization process; suspend the synchronization process in response to the steering wheel's rotational speed being greater than a threshold; maintain the current steering ratio while the synchronization process is suspended; and resume the synchronization process in response to the steering wheel's rotational speed being less than a threshold. Attached Figure Description

[0023] Exemplary embodiments will now be described in conjunction with the following figures, wherein the same numerals denote the same elements, and wherein:

[0024] Figure 1This is a functional block diagram illustrating an autonomous vehicle control system for a vehicle according to various implementation methods;

[0025] Figure 2 It is applicable to various implementation methods. Figure 1 A block diagram of an automated driving system (ADS) implemented by the autonomous vehicle control system of a vehicle;

[0026] Figure 3 This is a data flow diagram of an autonomous vehicle control system, including a steering wheel control system, based on one or more aspects described herein, and is applicable to... Figure 1 In the autonomous vehicle control system and Figure 2 Used together with ADS;

[0027] Figure 4 A flowchart depicts an exemplary method for steering wheel control during autonomous steering, according to one or more aspects described herein; and

[0028] Figure 5 A flowchart depicts a first exemplary method for synchronizing steering wheel angle and driving wheel angle during a transition from autonomous mode to manual mode, according to one or more aspects described herein; and

[0029] Figure 6 A flowchart is depicted of a second exemplary method for synchronizing steering wheel angle and driving wheel angle during a transition from autonomous mode to manual mode, according to one or more aspects described herein. Detailed Implementation

[0030] The following detailed description is merely exemplary in nature and is not intended to limit application and use. Furthermore, it is not intended to be bound by any express or implied theory presented in the foregoing introduction or the following detailed description. As used herein, the term "module" refers to any hardware, software, firmware, electronic control components, processing logic, and / or processor devices (alone or in any combination), including but not limited to: application-specific integrated circuits (ASICs), electronic circuits, processors (shared, dedicated, or grouped) and memories executing one or more software or firmware programs, combinational logic circuits, and / or other suitable components providing the described functionality.

[0031] Examples of this disclosure may be described herein in terms of functional and / or logical block components and various processing steps. It should be understood that such block components may be implemented by any number of hardware, software, and / or firmware components configured to perform the specified functions. For example, embodiments of this disclosure may employ various integrated circuit components, such as memory elements, digital signal processing elements, logic elements, lookup tables, etc., which may perform various functions under the control of one or more microprocessors or other control devices. Furthermore, those skilled in the art will understand that examples of this disclosure may be practiced in combination with any number of systems, and the systems described herein are merely examples of this disclosure.

[0032] For the sake of brevity, conventional techniques related to signal processing, data transmission, signaling, control, and other functional aspects of the system (and its various operating components) are not described in detail herein. Furthermore, the connecting lines shown in the various figures included herein are intended to illustrate exemplary functional relationships and / or physical couplings between various elements. It should be noted that many alternative or additional functional relationships or physical connections may exist in the examples of this disclosure.

[0033] Now for reference Figure 1 According to one or more implementations, an autonomous vehicle 10 is provided, which includes a steering wheel control system 100 configured to maintain the steering wheel 24a of the vehicle 10 in a stationary or static position when the vehicle 10 is turned by the autonomous driving system 70, and to synchronize the steering wheel 24a and wheels 16, 18 of the vehicle 10 before or in response to the transfer of steering control to the driver of the vehicle 10.

[0034] In various examples, vehicle 10 can be any of several different types of automobiles, such as, for example, sedans, vans, trucks, or sport utility vehicles (SUVs), and in some examples can be two-wheel drive (2WD) (i.e., rear-wheel drive or front-wheel drive), four-wheel drive (4WD), or all-wheel drive (AWD), and / or various other types of vehicles or mobile platforms.

[0035] like Figure 1 The depicted exemplary vehicle 10 typically includes a chassis 12, a body 14, front wheels 16, and rear wheels 18. The body 14 is disposed on the chassis 12 and substantially surrounds the components of the vehicle 10. The body 14 and the chassis 12 may together form a frame. The wheels 16 and 18 are each rotatably coupled to the chassis 12 near a corresponding corner of the body 14.

[0036] In an exemplary implementation, vehicle 10 is an autonomous vehicle or otherwise configured to support one or more autonomous operating modes, and a steering wheel control system 100 is integrated into vehicle 10. In another exemplary implementation, vehicle 10 is a so-called Level 2 automation system. Level 2 system indicates "partial driving automation," which refers to the following driving mode-specific execution of the automated driving system: controlling steering, acceleration, and braking in a specific scenario, while the driver remains alert and actively supervises the automated driving system, and is able to provide driver support to control the primary driving tasks.

[0037] In some exemplary implementations, vehicle 10 is a so-called Level 3 automation system. Level 3 system refers to "conditional driving automation," which means that the autonomous driving system performs the following driving mode-specific actions: controlling steering, acceleration, and braking in most scenarios, while the driver provides driver support to control certain driving tasks.

[0038] In some exemplary implementations, vehicle 10 is a so-called Level 4 automation system. Level 4 system indicates "high level of driving automation," which refers to the following driving mode-specific execution of the autonomous driving system: controlling all driving tasks in a specific scenario, while the driver optionally provides driver support to control the driving tasks.

[0039] In some exemplary implementations, vehicle 10 is a so-called Level 5 automation system. Level 5 system indicates "full driving automation," which means that the autonomous driving system performs the following driving mode-specific actions: controlling all driving tasks in all scenarios, while driver support is optional but not required.

[0040] As shown in the figure, vehicle 10 typically includes a propulsion system 20, a transmission system 22, a steering system 24, a sensor system 28, an actuator system 30, at least one data storage device 32, at least one controller 34, and a communication system 36. The propulsion system 20 includes an engine and / or motor 21, such as an internal combustion engine (e.g., a combustion engine fueled by gasoline or diesel), an electric motor (e.g., a 3-phase AC motor), or a hybrid system including more than one type of engine and / or motor. The transmission system 22 is configured to transmit power from the propulsion system 20 to the wheels 16, 18 according to a selectable speed ratio. According to various examples, the transmission system 22 may include a step-ratio automatic transmission, a continuously variable transmission (CVT), or other suitable transmission. The steering system 24 affects the position of the wheels 16, 18 and includes a steering wheel 24a operable via a steer-by-wire system.

[0041] Sensor system 28 includes one or more sensing devices 40a-40n that sense observable conditions of the external environment, internal environment, and / or the state or conditions of corresponding components of vehicle 10, and provide such conditions and / or states to other systems of vehicle 10, such as controller 34. It should be understood that vehicle 10 may include any number of sensing devices 40a-40n. Sensing devices 40a-40n may include, but are not limited to, radar, lidar, global positioning system, optical camera, thermal imager, ultrasonic sensor, inertial measurement unit, pressure sensor, position sensor, speed sensor, steering wheel angle sensor, and / or other sensors.

[0042] The actuator system 30 includes one or more actuator devices 42a-42n that control one or more vehicle features, such as, but not limited to, the propulsion system 20, the transmission system 22, and / or the steering system 24.

[0043] Data storage device 32 stores data used to control vehicle 10 and / or its systems and components. It is understood that data storage device 32 may be part of controller 34, separate from controller 34, or part of controller 34 and a separate system. Storage device 32 may be any suitable type of storage device, including various types of direct access storage and / or other memory devices. In one example, storage device 32 includes a program product from which a computer-readable storage device can receive a program that performs one or more examples of one or more processes of this disclosure, such as those described below. Figures 4-6 Further discussion of the process steps. In another example, the program product may be stored directly in a storage device and / or one or more other disks and / or other storage devices, and / or otherwise accessed by them.

[0044] The controller 34 includes at least one processor 44, a communication bus 45, and a computer-readable storage device or medium 46. The processor 44 performs the computational and control functions of the controller 34. The processor 44 can be any custom or commercially available processor, central processing unit (CPU), graphics processing unit (GPU), auxiliary processor among several processors associated with the controller 34, semiconductor-based microprocessor (in the form of a microchip or chipset), macroprocessor, any combination thereof, or any device generally used for executing instructions. The computer-readable storage device or medium 46 can include, for example, volatile and non-volatile memory in read-only memory (ROM), random access memory (RAM), and keep-alive memory (KAM). KAM is a persistent or non-volatile memory that can be used to store various operational variables when the processor 44 is powered off. Computer-readable storage device or medium 46 may be implemented using any of the following known memory devices: PROM (Programmable Read-Only Memory), EPROM (Erasable PROM), EEPROM (Electrically Erasable PROM), flash memory, or any other electrical, magnetic, optical, or combined memory device capable of storing data (some of which represent executable instructions used by controller 34 to control vehicle 10). Bus 45 is used to transmit programs, data, status, and other information or signals between various components of vehicle 10. Bus 45 may be any suitable physical or logical means of connecting computer systems and components. This includes, but is not limited to, direct hardwired connections, fiber optic, infrared, and wireless bus technologies.

[0045] Instructions may include one or more individual programs, each comprising an ordered list of executable instructions for implementing logical functions. When executed by processor 44, the instructions receive and process signals from sensor system 28, perform logic, calculations, methods, and / or algorithms, and generate data based on the logic, calculations, methods, and / or algorithms. Although in Figure 1 Only one controller 34 is shown, but examples of vehicle 10 may include any number of controllers 34 that communicate via any suitable communication medium or combination of communication media and cooperate to process sensor signals, perform logic, calculations, methods and / or algorithms, and generate data.

[0046] It is understandable that controller 34 may differ from other controllers in other ways. Figure 1Examples are depicted herein. For example, controller 34 may be coupled to or otherwise utilize one or more remote computer systems and / or other control systems, for example, as part of one or more of the aforementioned vehicle equipment and systems. It will be understood that although this example is described in the context of a full-function computer system, those skilled in the art will recognize that the mechanisms of this disclosure can be distributed as program products in which one or more types of non-transitory computer-readable signal-bearing media are used to store their programs and instructions and to perform their distribution, such as non-transitory computer-readable media carrying programs and containing computer instructions stored therein for causing a computer processor (such as processor 44) to execute and run the program. Such program products can take various forms, and this disclosure applies equally regardless of the specific type of computer-readable signal-bearing medium used to perform the distribution. Examples of signal-bearing media include recordable media such as floppy disks, hard disks, memory cards, and optical disks, and transmission media such as digital and analog communication links. It will be understood that cloud-based storage and / or other technologies may also be utilized in some examples. Similarly, it will be understood that the computer system of controller 34 may otherwise differ from other systems. Figure 1 The illustrated example, for instance, shows that the computer system of controller 34 may be coupled to or may otherwise utilize one or more remote computer systems and / or other control systems.

[0047] Still referencing Figure 1 In an exemplary implementation, communication system 36 is configured to wirelessly communicate information to and from other entities 48 (such as, but not limited to, other vehicles (“V2V” communication), infrastructure (“V2I” communication), remote systems, and / or personal devices) via a communication network. In an exemplary implementation, communication system 36 is a wireless communication system configured to communicate via a wireless local area network (WLAN) using the IEEE 802.11 standard or by using cellular data communication. However, additional or alternative communication methods (such as dedicated short-range communication (DSRC) channels) are also considered to be within the scope of this disclosure. A DSRC channel refers to a one-way or two-way short-to-medium-range wireless communication channel specifically designed for automotive use and corresponding set of protocols and standards.

[0048] The communication network utilized by communication system 36 may include a wireless carrier system, such as a cellular telephone system, comprising multiple cell towers (not shown), one or more mobile switching centers (MSCs) (not shown), and any other networking components required to connect the wireless carrier system to the terrestrial communication system. The wireless carrier system may implement any suitable communication technology, including, for example, digital technologies such as CDMA (e.g., CDMA2000), LTE (e.g., 4G LTE or 5G LTE), GSM / GPRS, or other current or emerging wireless technologies. Additionally or alternatively, a second wireless carrier system in the form of a satellite communication system may be utilized to provide one-way or two-way communication using one or more communication satellites (not shown) and uplink transmitting stations (not shown), including but not limited to satellite radio services, satellite telephone services, etc. Some implementations may utilize terrestrial communication systems, such as conventional terrestrial-based telecommunications networks, including the Public Switched Telephone Network (PSTN) for providing hard-tether telephone, packet-switched data communications, and Internet infrastructure. One or more segments of a terrestrial communication system may be implemented using standard wired networks, fiber optic or other optical networks, cable networks, power lines, other wireless networks (such as wireless local area networks (WLANs)), or networks that provide broadband wireless access (BWA), or any combination thereof.

[0049] Now for reference Figure 2 Depending on the implementation, controller 34 implements autonomous driving system (ADS) 70. That is, suitable software and / or hardware components of controller 34 (e.g., processor 44 and computer-readable storage device 46) are used to provide autonomous driving system 70 for use in conjunction with vehicle 10, for example, to automatically control one or more of actuator devices 42a-42n, and thereby control vehicle acceleration, steering and braking without human intervention.

[0050] In various implementations, the instructions of the autonomous driving system 70 can be organized by function or system. For example, such as Figure 2 As shown, the autonomous driving system 70 may include a sensor fusion system 74, a positioning system 76, a guidance system 78, and a vehicle control system 80. It will be understood that in various implementations, instructions may be organized into any number of systems (e.g., combined, further divided, etc.), as this disclosure is not limited to this example.

[0051] In various implementations, the sensor fusion system 74 synthesizes and processes sensor data to predict the presence, location, classification, and / or path of objects and features in the environment of the vehicle 10. In various implementations, the sensor fusion system 74 can combine information from multiple sensors (including but not limited to cameras, lidar, radar, and / or any number of other types of sensors).

[0052] The positioning system 76 processes sensor data and other data to determine the position of vehicle 10 relative to its environment (e.g., local position relative to a map, precise position relative to a road lane, vehicle heading, speed, etc.). The guidance system 78 processes sensor data and other data to determine a path for vehicle 10 to follow, given current sensor data and vehicle attitude. The vehicle control system 80 then generates control signals for controlling vehicle 10 based on the determined path. In various implementations, the controller 34 implements machine learning techniques to assist its functions, such as feature detection / classification, obstacle mitigation, route traversal, mapping, sensor integration, and ground condition determination.

[0053] In one or more implementations, the guidance system 78 includes a motion planning module that generates motion plans for controlling the vehicle 10 as it travels along a route. The motion planning module includes a longitudinal solver module that generates a longitudinal motion planning output for controlling the movement of the vehicle 10 along the route in the overall direction of travel, for example, by accelerating or decelerating the vehicle 10 at one or more future locations along the route to maintain a desired speed or rate. The motion planning module also includes a lateral solver module that generates a lateral motion planning output for controlling the lateral movement of the vehicle 10 along the route to change the overall direction of travel, for example, by steering the vehicle 10 at one or more future locations along the route (e.g., to center the vehicle 10 within a lane, change lanes, etc.). The longitudinal and lateral planning outputs correspond to command (or planned) path outputs provided to the vehicle control system 80 for controlling the actuator system 30 to achieve movement of the vehicle 10 along the routes corresponding to the longitudinal and lateral plans.

[0054] During normal operation, the longitudinal solver module attempts to optimize the vehicle speed (or rate) in the direction of travel, the vehicle acceleration in the direction of travel, and the derivative of the vehicle acceleration in the direction of travel (hereinafter referred to as the longitudinal jerk of vehicle 10), while the lateral solver module attempts to optimize one or more of the steering angle, the rate of change of the steering angle, and the acceleration or second derivative of the steering angle (hereinafter referred to as the lateral jerk of vehicle 10). In this regard, the steering angle may be related to the curvature of the path or route, and any one of the steering angle, the rate of change of the steering angle, and the acceleration or second derivative of the steering angle can be optimized individually or in combination by the lateral solver module.

[0055] In an exemplary implementation, the guidance system 78 supports a hands-free autonomous operation mode, which, when enabled, controls steering, acceleration, and braking, and operates to provide lane centering while attempting to maintain a driver-selected speed and / or following distance (or gap time) relative to other vehicles using current sensor data (or obstacle data) provided by the sensor fusion system 74 and the current vehicle attitude provided by the positioning system 76. In the autonomous operation mode, the guidance system 78 includes or otherwise implements a lane change coordinator that, in addition to data or other information from the sensor fusion system 74, the positioning system 76, and potentially other modules or systems, analyzes route information (if available) to determine whether to initiate and execute a lane change from the current lane to an adjacent lane, for example, based on the presence of slower-moving traffic in the current lane ahead of vehicle 10 (e.g., to overtake or pass another vehicle), whether the current lane is ending or merging into an adjacent lane, whether a lane change is needed to maintain the desired route, and so on. In this regard, the lane change coordinator can automatically determine when to initiate a lane change and automatically configure the lateral solver module and / or motion planning module to generate a corresponding lateral plan for changing the lane in the desired manner, and provide the lateral plan to the vehicle control system 80, which automatically generates a corresponding control signal to autonomously control the actuator system 30 to manipulate the vehicle 10 and perform the lane change.

[0056] refer to Figure 3 And continue to refer to Figures 1-2 The data flow diagram illustrates various examples. Figure 1 The steering wheel control system 100 comprises the following components. It is understood that various examples of the steering wheel control system 100 according to this disclosure may include any number of modules embedded within the controller 34, which may be combined and / or further segmented to similarly implement the systems and methods described herein. Furthermore, the inputs to the steering wheel control system 100 may be received from other control modules (not shown) associated with the vehicle 10, and / or determined / modeled by other sub-modules (not shown) within the controller 34. Additionally, the inputs may undergo preprocessing, such as subsampling, noise reduction, normalization, feature extraction, missing data reduction, etc. In various examples, the steering wheel control system 100 includes a monitoring module 210, a synchronization module 212, a control module 214, and a notification module 216.

[0057] In various examples, monitoring module 210 receives vehicle data 220 generated by one or more systems of vehicle 10 (such as steering system 24 and / or sensor system 28) as input. Vehicle data 220 includes various data indicating various parameters of vehicle status, such as whether the driver of vehicle 10 is holding steering wheel 24a, steering wheel angle, wheel angle, rotation speed of steering wheel 24a, and vehicle mode.

[0058] The monitoring module 210 continuously or periodically analyzes vehicle data 220 to monitor the vehicle status in real time, thereby determining whether to perform synchronization of the steering wheel angle and the driving wheel angle. The monitoring module 210 generates monitoring data 222, which includes various data indicating whether the synchronization process should be performed and various other relevant parameters of the vehicle status. For example, the monitoring module 210 may determine to perform the synchronization process in response to a request from vehicle 10 to switch from autonomous mode to manual mode, in response to a request from the driver to switch from autonomous mode to manual mode, or in response to steering control by the driver via steering wheel 24a.

[0059] In various examples, synchronization module 212 receives monitoring data 222 generated by monitoring module 210 as input. Based on the monitoring data 222, synchronization module 212 determines how to synchronize the steering wheel angle and the driving wheel angle. For example, the synchronization process may include rotating the steering wheel to adjust the steering wheel angle, turning the front wheels 16 to adjust the driving wheel angle, modifying the steering ratio, or a combination thereof. Synchronization module 212 generates synchronization data 224, which includes various data indicating how to perform the synchronization process.

[0060] In various examples, control module 214 receives synchronization data 224 generated by synchronization module 212 as input. Control module 214 analyzes the synchronization data 224 and, based on this, generates control data 226, which includes various data indicating instructions or commands configured to initiate a synchronization process, such as modifying the steering wheel angle and / or the driving wheel angle by altering the operation of one or more actuator devices 42a-42n. Control module 214 sends control data 226 to one or more other systems of vehicle 10, such as actuator system 30 and / or vehicle control system 80. In some examples, control module 214 may be vehicle control system 80 or a submodule thereof.

[0061] In various examples, notification module 216 receives synchronization data 224 generated by synchronization module 212 as input. Notification module 216 analyzes the synchronization data 224 and, based on this, generates notification data 228, which includes various data instructing an instruction or command configured to generate a notification for the driver of vehicle 10. In some examples, the notification may include audible and / or visual elements. In some examples, the notification may include visual symbols, icons, markings, or messages displayed, for example, on a display screen and / or dashboard of vehicle 10. Notification module 216 sends notification data 228 to one or more other systems of vehicle 10, such as a display system.

[0062] Now for reference Figure 4 And continue to refer to Figures 1-3 The flowchart provides various examples of methods 300 for operating vehicle 10, such as those performed by steering wheel control system 100. As will be understood from this disclosure, the order of operations within method 300 is not limited to, for example... Figure 4 The execution is not sequential as shown, but may be performed in one or more different orders, as applicable and in accordance with this disclosure. In various examples, method 300 may be scheduled to run based on one or more predetermined events, and / or may run continuously during the operation of vehicle 10.

[0063] In one example, method 300 may begin at 310. At 312, method 300 may include operating vehicle 10 in an autonomous mode, wherein the steering of vehicle 10 is controlled by ADS 70 without driver intervention. When ADS 70 steers vehicle 10, method 300 includes maintaining steering wheel 24a in a centered and / or stationary position, i.e., steering wheel 24a does not rotate when ADS 70 turns the front wheels 16.

[0064] At 314, method 300 may include determining to switch steering control from autonomous mode to manual mode, in which the steering of vehicle 10 is controlled by the driver of vehicle 10 using steering wheel 24a. In some examples, this determination may be made by ADS 70, for example, due to changed driving conditions or in response to a request from the driver, and this determination may be communicated to controller 34.

[0065] At 316, method 300 may include performing a synchronization process, including synchronizing the steering wheel angle and the driving wheel angle of vehicle 10 according to a predetermined steering ratio until the steering wheel angle and the driving wheel angle match. In some examples, the synchronization process may include rotating the steering wheel 24a to adjust the steering wheel angle toward the driving wheel angle, and / or rotating the front wheels 16 to adjust the driving wheel angle toward the steering wheel angle. In some examples, the synchronization process may be performed based on vehicle state.

[0066] At 318, method 300 may optionally include monitoring the driver's control over steering wheel 24a, such as whether the driver is gripping and / or rotating steering wheel 24a. In such an example, method 300 may include modifying the synchronization process in response to detecting that the driver has gained control over steering wheel 24a. Method 300 may end at 320.

[0067] Now for reference Figure 5 and Figure 6 And continue to refer to Figures 1-4 A pair of flowcharts respectively provide methods 400 and 500 for operating vehicle 10, performed by a steering wheel control system 100, according to various examples. As will be understood from this disclosure, the order of operations within methods 400 and 500 is not limited to... Figure 5 and Figure 6 The execution is not performed in the sequential order shown, but may be performed in one or more different orders as applicable and in accordance with this disclosure. In various examples, methods 400 and / or 500 may each be scheduled to run based on one or more predetermined events, and / or may run continuously during the operation of vehicle 10.

[0068] First refer to Figure 4 In one example, method 400 may begin at 410. At 412, method 400 may include operating vehicle 10 in an autonomous mode, wherein the steering of vehicle 10 is controlled by ADS 70 without driver intervention. When ADS 70 steers vehicle 10, method 400 includes maintaining steering wheel 24a in a centered and / or stationary position, i.e., steering wheel 24a does not rotate when ADS 70 turns the front wheels 16.

[0069] At 414, method 400 may include initiating a request to switch from autonomous mode to manual mode, in which the steering of vehicle 10 is controlled by the driver of vehicle 10 using steering wheel 24a, for example, due to changed driving conditions.

[0070] At 416, method 400 may include a calibration delay to provide sufficient time to synchronize the steering wheel angle and the driving wheel angle. The duration of the delay may be adjusted based on various factors, such as the difference between the steering wheel angle and the driving wheel angle, the speed of the vehicle 10, the cause of the change, etc.

[0071] At 418, method 400 may include rotating the steering wheel 24a in a direction that brings the steering wheel angle close to the driving wheel angle. In some examples, the steering wheel 24a may be rotated toward a target steering wheel angle.

[0072] At 420, method 400 may include determining whether the driver has steering control. For example, method 400 may include detecting that the driver is holding and / or turning the steering wheel 24a. If a determination is made that the driver does not have steering control, method 400 may proceed to 422. If a determination is made that the driver does have steering control, method 400 may proceed to 424.

[0073] At 422, method 400 may include determining whether the steering wheel angle and the driving wheel angle are synchronized according to a predetermined steering ratio. If a determination is made that the steering wheel angle and the driving wheel angle are not synchronized, method 400 may return to 418. If a determination is made that the steering wheel angle and the driving wheel angle are synchronized, method 400 may continue to 426.

[0074] At 424, method 400 may include determining whether the steering wheel angle and the driving wheel angle are synchronized according to a predetermined steering ratio. If the determination is made that the steering wheel angle and the driving wheel angle are synchronized, method 400 may proceed to 426. If the determination is made that the steering wheel angle and the driving wheel angle are not synchronized, method 400 may proceed to 428.

[0075] At 426, method 400 may include maintaining synchronization between the steering wheel angle and the driving wheel angle, and method 400 may end at 430.

[0076] At 428, method 400 may include aborting or stopping the rotation of steering wheel 24a, and method 400 may continue to 432 to transition to method 500.

[0077] Now for reference Figure 5 In one example, method 500 may begin at 510. At 512, method 500 may include operating vehicle 10 in an autonomous mode, wherein the steering of vehicle 10 is controlled by ADS 70 without driver intervention. When ADS 70 steers vehicle 10, method 500 includes maintaining steering wheel 24a in a centered and / or stationary position, i.e., steering wheel 24a does not rotate when ADS 70 turns the front wheels 16.

[0078] At 514, method 500 may include determining that the driver has steering control. For example, method 500 may include detecting that the driver is holding and / or turning the steering wheel 24a.

[0079] At 516, method 500 may include guiding the driving wheel angle toward the steering wheel angle (e.g., toward the center position).

[0080] At 518, method 500 may include determining whether the rotational speed of the steering wheel 24a exceeds a threshold. In some examples, the threshold may correspond to intervention by the driver to avoid an obstacle (e.g., a rapid sharp turn). If the rotational speed exceeds the threshold, method 500 may proceed to 520. If the rotational speed does not exceed the threshold, method 500 may proceed to 522.

[0081] At 520, method 500 may include pausing the synchronization process and maintaining the current steering ratio, thereby allowing the driver to manually steer the vehicle 10 without interference from ADS 70. Method 520 may return to 518 and potentially resume the synchronization process if the rotational speed of the steering wheel 24a drops below a threshold.

[0082] At 522, method 500 may include modifying the steering ratio to speed up the synchronization process. For example, the steering ratio may be adjusted to reduce the number of degrees the steering wheel must rotate to turn the front wheels 16. Typically, the steering ratio is expressed as an x:y ratio, where x is the number of degrees the steering wheel 24a rotates and y is the number of degrees the front wheels 16 rotate (e.g., 16:1).

[0083] At point 524, method 500 may include generating a notification intended to indicate to the driver that a synchronization process is currently in progress. For example, during the synchronization process, a symbol or icon may be displayed on the dashboard of vehicle 10.

[0084] At 526, method 500 may include determining whether the steering wheel angle and the driving wheel angle are synchronized according to a predetermined steering ratio. If a determination is made that the steering wheel angle and the driving wheel angle are not synchronized, method 500 may proceed to 528. If a determination is made that the steering wheel angle and the driving wheel angle are synchronized, method 500 may proceed to 530.

[0085] At 528, method 500 may include determining whether the rotational speed of the steering wheel 24a is greater than zero. If the rotational speed is greater than zero, method 500 may return to 518. If the rotational speed is zero, method 500 may return to 516.

[0086] At 530, method 500 may include maintaining synchronization between the steering wheel angle and the driving wheel angle, and method 500 may end at 532.

[0087] The systems and methods disclosed herein offer various benefits superior to certain existing systems and methods. For example, existing systems and methods that involve rotating the steering wheel during autonomous mode can result in the steering wheel obstructing the visibility of the instrument panel, distracting the driver, etc. In contrast, the systems and methods disclosed herein allow the steering wheel to remain stationary when the vehicle is operated in L2 or higher autonomous modes and provide a transfer of steering control from the vehicle to the driver. Optionally, the system and methods can allow the driver to immediately take over steering control from the vehicle and / or immediately hand over steering control to the vehicle. When the steering wheel is not constantly moving (or has a reduced angle), the driver may be able to relax, have improved instrument panel visibility, and / or more easily operate the controls in the steering wheel. In some examples, the steering wheel can be modified to provide additional functionality when stationary. For example, the steering wheel may include a display for providing additional enjoyment to the driver.

[0088] While at least one exemplary embodiment has been presented in the foregoing detailed description, it should be understood that numerous variations exist. It should also be understood that the exemplary embodiments or multiple exemplary embodiments are merely examples and are not intended to limit the scope, applicability, or configuration of this disclosure in any way. Rather, the foregoing detailed description will provide those skilled in the art with a convenient roadmap for implementing the exemplary embodiments or multiple exemplary embodiments. It should be understood that various changes can be made to the function and arrangement of the elements without departing from the scope of this disclosure as set forth in the appended claims and their legal equivalents.

Claims

1. A method comprising: When the vehicle is operating in autonomous mode, the steering wheel of the vehicle's steer-by-wire system is kept stationary by a controller having one or more processors, wherein the steering of the vehicle is controlled by the vehicle's controller. The controller having the one or more processors determines whether to switch steering control from the autonomous mode to a manual mode, in which the steering of the vehicle is controlled by the driver of the vehicle using the steering wheel; as well as The synchronization process is performed using the controller having one or more processors, the synchronization process being configured to synchronize the steering wheel angle and the driving wheel angle according to a predetermined steering ratio.

2. The method of claim 1, wherein performing the synchronization process comprises: The controller, which has one or more processors, rotates the wheels of the vehicle via a drive wheel actuator to adjust the angle of the drive wheels toward the steering wheel angle. or The controller, which has one or more processors, rotates the steering wheel via a steering wheel actuator to adjust the steering wheel angle toward the driving wheel angle.

3. The method of claim 1, further comprising utilizing the controller having said one or more processors: Monitor the driver's control of the steering wheel; During the synchronization process, in response to determining that the driver does not have control of the steering wheel, the steering wheel is rotated via the steering wheel actuator to adjust the steering wheel angle toward the driving wheel angle; In response to determining that the driver has gained control of the steering wheel or in response to determining that the steering wheel angle and the driving wheel angle are synchronized according to the predetermined steering ratio, the rotation of the steering wheel is stopped; as well as After the rotation of the steering wheel stops, in response to determining that the steering wheel angle and the driving wheel angle are out of sync, the controller having the one or more processors rotates the wheels of the vehicle via driving wheel actuators to adjust the driving wheel angle toward the steering wheel angle.

4. The method of claim 1, further comprising utilizing the controller having said one or more processors: When the driver has control of the steering wheel and during the synchronization process, the rotational speed of the steering wheel is monitored; In response to the steering wheel's rotational speed exceeding a threshold, the execution of the synchronization process is paused; When the synchronization process is paused, the current steering ratio is maintained; as well as In response to the steering wheel's rotational speed being less than the threshold, the execution of the synchronization process is resumed.

5. A system comprising: A driving wheel actuator is configured to rotate the wheels of a vehicle and thereby adjust the angle of the driving wheels of the vehicle. A steering wheel actuator is configured to rotate the steering wheel of the vehicle and thereby adjust the steering wheel angle of the vehicle. as well as A controller, functionally coupled to the drive wheel actuator and the steering wheel actuator, wherein the controller is configured to, via one or more processors: When the vehicle is operated in autonomous mode, the steering wheel is kept in a stationary position, wherein the steering of the vehicle is controlled by the vehicle. The system determines to switch steering control from the autonomous mode to the manual mode, in which the vehicle's steering is controlled by the driver using the steering wheel. as well as A synchronization process is performed, the synchronization process being configured to synchronize the steering wheel angle and the driving wheel angle according to a predetermined steering ratio, wherein the synchronization process uses the driving wheel actuator and / or the steering wheel actuator to synchronize the steering wheel angle and the driving wheel angle.

6. The system of claim 5, wherein the controller is configured to, via the one or more processors: During the synchronization process, the wheels are rotated via the driving wheel actuator to adjust the driving wheel angle toward the steering wheel angle; or During the synchronization process, the steering wheel is rotated via the steering wheel actuator to adjust the steering wheel angle toward the driving wheel angle.

7. The system of claim 5, wherein the controller is configured to, via the one or more processors: Monitor the driver's control of the steering wheel; During the synchronization process, in response to determining that the driver does not have control of the steering wheel, the steering wheel is rotated via the steering wheel actuator to adjust the steering wheel angle toward the driving wheel angle; and In response to determining that the driver has gained control of the steering wheel or in response to determining that the steering wheel angle and the driving wheel angle are synchronized according to the predetermined steering ratio, the rotation of the steering wheel is stopped.

8. The system of claim 7, wherein the controller is configured to, via the one or more processors, after stopping the rotation of the steering wheel, in response to determining that the steering wheel angle and the driving wheel angle are out of sync, rotate the wheel via the driving wheel actuator to adjust the driving wheel angle toward the steering wheel angle.

9. The system of claim 6, wherein the controller is configured to, via the one or more processors: When the driver has control of the steering wheel and during the synchronization process, the rotational speed of the steering wheel is monitored; In response to the steering wheel's rotational speed exceeding a threshold, the synchronization process is paused; When the synchronization process is paused, the current steering ratio is maintained; as well as In response to the steering wheel's rotational speed being less than the threshold, the synchronization process is resumed.

10. The system of claim 6, wherein the controller is configured to, via the one or more processors, modify the steering ratio during the synchronization process to speed up the synchronization process.

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