Vehicle Actuator Request Arbitration for Smooth Command Transitions
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Solution Overview
Problem
When multiple control commands from vehicle assistance applications diverge significantly, existing systems fail to manage the transition smoothly, leading to uncomfortable vehicle behavior for the driver.
Innovation Solution
A vehicle control device that arbitrates between control commands and introduces a guard value to limit the absolute change in request values, generating an intermediate request when the difference between new and current requests exceeds a threshold, thereby smoothing the transition and minimizing driver discomfort.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If a new control command is adopted immediately when arbitration determines it has higher priority, then the system responds quickly to new requests, but significant divergence between old and new request values causes uncomfortable vehicle behavior changes
Solution Approach 1:
The system performs preliminary calculation of the difference between new and current request values before executing the command switch. When the difference exceeds the guard value, the system prepares an intermediate request value in advance, ensuring smooth transition before the actual command execution occurs.
Solution Approach 2:
An intermediate request value acts as a mediator between the current control command and the new control command. When the new command's request value diverges significantly from the current one, the intermediate value bridges the gap, preventing abrupt changes while maintaining the eventual transition to the new command.
2Reliability
If the system strictly follows arbitration results to adopt high-priority commands, then command priority is respected, but abrupt behavioral changes occur when request values diverge significantly
Solution Approach 1:
The system performs preliminary verification of the difference between new and current request values before executing the arbitration result. This preliminary check ensures that high-priority commands are still respected while preventing abrupt changes that would compromise behavioral stability.
Solution Approach 2:
The system dynamically adjusts the request value parameter based on the calculated difference. When the difference exceeds the guard value, the request value parameter is modified to an intermediate value, maintaining both arbitration reliability and behavioral stability through parameter adaptation.
3Ease of operation
If the system calculates and compares request value differences before command execution, then smooth transitions are achieved, but additional processing time is required
Solution Approach 1:
The system performs only the necessary partial action of calculating the difference between request values, rather than completely reprocessing the entire command arbitration logic. This selective calculation minimizes additional processing time while achieving smooth transitions.
Data Source
AI summary
A control device includes one or more processors that is configured to: receive a plurality of first requests from a driver assistance system; arbitrate the plurality of first requests; calculate a second request, which has a physical quantity different from the first request, based on an arbitration result; and distribute the second request to at least one of a plurality of actuator systems. When a difference between the second request based on a previous arbitration result and the second request based on a current arbitration result is larger than a threshold value, the one or more processors are configured to distribute a request that is a value between the second request based on the previous arbitration result and the second request based on the current arbitration result.