Actuator Diagnostics via Path Deviation in Autonomous Vehicles
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Solution Overview
Problem
Automated driving systems face challenges in detecting and responding to diagnostic conditions, such as external torque influences and actuator command discrepancies, which can affect vehicle steering and path maintenance, especially in the absence of direct actuator signals.
Innovation Solution
A method and system that determine a commanded vehicle path, calculate steering commands, and control vehicle steering via an automated driving system, activating a diagnostic mode when differences are detected, including a secondary steering mode and operator notification, independent of actuator signals.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the automated driving system relies on direct actuator signals for diagnostic monitoring, then the detection accuracy of actuator conditions is improved, but the system becomes vulnerable when actuator signals are unavailable or unreliable
Solution Approach 1:
The patent introduces intermediary parameters (actual vehicle path, commanded vehicle path, steering commands) that mediate between the actuator and the diagnostic system. Instead of directly monitoring actuator signals, the system monitors the relationship between commanded paths and actual paths, which are influenced by actuator performance but can be measured independently through vehicle sensors and control commands.
Solution Approach 2:
The patent replaces direct mechanical/electrical signal monitoring from the actuator with a software-based diagnostic approach that uses vehicle dynamics data. The diagnostic mode substitutes direct actuator signal reading with indirect inference based on path deviation analysis, allowing the system to detect actuator issues without relying on direct actuator feedback signals.
2Reliability
If the system activates diagnostic mode based on path differences, then the reliability of vehicle control is improved, but the complexity of the control system increases
Solution Approach 1:
The patent implements a dynamic diagnostic mode that is activated or deactivated based on real-time operating conditions. The system transitions between normal operation and diagnostic monitoring based on detected path differences and other criteria, allowing the complexity to be variable rather than fixed. This dynamic approach ensures high reliability when needed while minimizing complexity during normal operation.
Solution Approach 2:
The patent changes the operational parameters of the control system by switching between different modes (normal mode and diagnostic mode). In diagnostic mode, the system uses alternative control logic and monitoring parameters to detect actuator issues. This parameter change allows the system to maintain simplicity during normal operation while gaining enhanced diagnostic capabilities when activated.
3Adaptability or versatility
If the system uses software-based diagnostic solution independent of actuator signals, then the adaptability to actuator failures is improved, but the difficulty of detecting and measuring actuator conditions increases
Solution Approach 1:
The patent implements a feedback mechanism where the system continuously compares commanded vehicle paths with actual vehicle paths. This feedback loop provides information about actuator performance indirectly - when the actuator fails to execute commands properly, the path deviation feedback reveals the issue. This feedback-based approach enables the system to adapt to actuator failures without needing direct actuator signal feedback.
Data Source
AI summary
A method of controlling a vehicle having an automated driving system configured to control vehicle steering includes determining a commanded vehicle path. The method additionally includes calculating a steering command to satisfy the commanded vehicle path. The method also includes controlling vehicle steering, via the automated driving system, according to the steering command. The method further controls detecting a difference between an actual vehicle path and the commanded vehicle path, and, in response to the detected difference, controlling the vehicle according to a secondary mode.