Active Ride Comfort Tuning for Autonomous Vehicle Smoothness
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Solution Overview
Problem
Autonomous vehicles face challenges in identifying and addressing slight fluctuations in ride smoothness, such as brief stutters or momentary accelerations, due to complex systems with numerous hardware and software components, making it difficult to determine which component is causing the issue.
Innovation Solution
A comfort tuning component detects interruptions to ride smoothness and determines the responsible subcomponent, altering parameters associated with that subcomponent to minimize interruptions, such as adjusting weights, acceleration thresholds, or jerk limits, to enhance ride smoothness.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the autonomous vehicle uses complex systems with numerous hardware and software components to control operations, then the vehicle's operational capability is improved, but it becomes difficult to identify which component contributes to ride smoothness fluctuations
Solution Approach 1:
The patent segments the complex autonomous vehicle system into distinct controllable components (e.g., trajectory generation module, trajectory selection module, action selection module, ride comfort module). Each module's contribution to ride smoothness fluctuations can be independently analyzed by examining parameter changes and action selections within that specific segment, making identification of problematic components feasible despite overall system complexity
Solution Approach 2:
The patent implements a feedback mechanism where ride smoothness is continuously monitored and compared against reference values. When fluctuations are detected, the system traces back through the various modules to identify which component's parameter changes or action selections caused the deviation, enabling systematic debugging of complex systems
2Adaptability or versatility
If minor changes are made to software components or hardware to improve vehicle performance, then operational flexibility is improved, but unintended ride smoothness issues may be introduced
Solution Approach 1:
The patent performs preliminary analysis of parameter changes and action selections before they fully impact ride smoothness. By monitoring and comparing these changes against reference trajectories and comfort parameters in advance, the system can predict potential ride quality issues and adjust parameters proactively to maintain smoothness consistency
Solution Approach 2:
The continuous feedback loop monitors ride smoothness in real-time and provides immediate correction when deviations are detected, ensuring that minor software or hardware changes do not result in sustained ride quality degradation
3Reliability
If the vehicle system makes frequent adjustments to control parameters to maintain safety, then safety responsiveness is improved, but ride smoothness is degraded due to momentary accelerations and decelerations
Solution Approach 1:
The patent applies local quality by differentiating between safety-critical parameters that require frequent adjustment and comfort-critical parameters that require smooth transitions. The system allows aggressive parameter changes only when absolutely necessary for safety, while applying smooth interpolation and filtering to non-critical parameters to maintain ride comfort
Solution Approach 2:
The patent carefully manages parameter changes by establishing hierarchical constraints: safety parameters can change freely when needed, while comfort parameters are adjusted more gradually. The system uses parameter smoothing techniques and transition management to ensure that even necessary safety adjustments are executed in a way that minimizes ride quality degradation
Data Source
AI summary
A vehicle may include an active ride comfort tuning system that reactively and/or proactively alters a parameter of a system of the autonomous vehicle to mitigate or avoid interruptions to ride smoothness. For example, the comfort tuning system may alter a parameter of a drive system, suspension, and/or a trajectory cost function. The comfort tuning system may alter the parameter based at least in part on detecting and/or receiving a comfort indication, determined based on sensor data, user input, or the like.