Autonomous Driving Kit Steering Feedback for User Intervention

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Solution Overview

Problem

Existing autonomous driving systems face challenges in maintaining stable steering when a user intervenes with the steering wheel, particularly in configurations where the autonomous driving apparatus is attachable and removable from the vehicle platform.

Innovation Solution

An autonomous driving kit that includes a compute assembly and a communication module, capable of communicating with the vehicle platform to obtain a torque value from the steering system and transmit a wheel steer angle command based on the driving plan and the torque value, ensuring stable steering even with user intervention.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Adaptability or versatility

If an attachable and removable autonomous driving apparatus is used, then the autonomous driving system can be replaced and upgraded, but stable steering becomes difficult to maintain when a user intervenes with steering

Engineering Contradiction:

Improvereplaceability of autonomous driving apparatusVSAvoidsteering stability during user intervention

Core Design Contradiction:

Adaptability or versatilityVSReliability

Solution Approach 1:

The autonomous driving kit obtains torque values from the steering system through sensors or motor current detection, and uses this feedback to adjust the wheel steer angle command. This closed-loop feedback mechanism ensures that user interventions are detected and accommodated, maintaining steering stability even with replaceable autonomous driving apparatus

Inventive Principle:

Principle #23Feedback

Solution Approach 2:

The system dynamically adjusts the wheel steer angle command based on real-time torque values and driving plan requirements. By making the steering control adaptive and dynamic rather than fixed, the system can respond to user interventions while maintaining overall steering stability

Inventive Principle:

Principle #15Dynamics

2Reliability

If the autonomous driving kit obtains torque values and adjusts wheel steer angle commands in real-time, then steering stability is improved during user intervention, but the device complexity increases

Engineering Contradiction:

Improvesteering stability during user interventionVSAvoidcomplexity of torque detection and control system

Core Design Contradiction:

ReliabilityVSDevice complexity

Solution Approach 1:

The steering system uses its own existing components (steering motor, current sensors, or torque sensors) to provide the torque value information needed for autonomous driving control. The system serves itself by utilizing already-present hardware rather than requiring entirely separate detection systems, thereby reducing overall complexity

Inventive Principle:

Principle #25Self-service

Data Source

PatentUS12202559B2Autonomous driving kit, vehicle platform, vehicle control interface box, and vehicle

Publication Date: 2025.01.21 TOYOTA JIDOSHA KK

AI summary

An ADK is attachable to and removable from a VP and issues an instruction for autonomous driving to the VP. The VP includes a steering system for steering of the VP. (An ADS of) the ADK includes a compute assembly and a communication module configured to communicate with the VP. The compute assembly obtains from the VP, a torque value relating to a steering system 33 through the communication module and transmits to the VP, a wheel steer angle command indicating the wheel steer angle in accordance with a driving plan for autonomous driving and the obtained torque value. Even when a user intervenes with an operation while the attachable and removable ADK that issues the instruction for autonomous driving controls the VP, stable steering can be achieved.