ASR Driver Control Envelopes for Smooth Autonomous Handover
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Solution Overview
Problem
Current autonomous driving systems lack a seamless transition mechanism for driver control when switching between autonomous and manual modes, leading to potential safety and operational inefficiencies.
Innovation Solution
A driver-in-the-loop (DIL) component that applies an attack-sustain-release (ASR) envelope to input signals, gradually ramping up driver control from autonomous to manual control and vice versa, allowing for a controlled transition through a controller module.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If direct switching between autonomous and manual control modes is implemented, then response time is reduced, but control smoothness and safety deteriorate
Solution Approach 1:
The patent implements dynamic control transition by applying an ASR envelope to the driver input signal. The envelope dynamically adjusts the gain of driver input based on the transition phase: during attack phase, driver control gradually increases from 0% to 100%; during sustain phase, full driver control is maintained; during release phase, autonomous control gradually returns. This dynamic adjustment resolves the contradiction by making the transition adaptive rather than fixed, ensuring both responsiveness and smoothness.
Solution Approach 2:
The patent applies preliminary action by pre-defining the ASR envelope parameters (attack time, sustain time, release time) that govern the transition behavior. When a mode transition is initiated, the envelope is pre-configured and then applied to the driver input signal, ensuring that the transition follows a predetermined smooth trajectory. This preliminary configuration allows the system to prepare for smooth transitions while maintaining quick response to driver inputs.
2Reliability
If gradual transition mechanism is implemented, then control smoothness is improved, but response time increases
Solution Approach 1:
The patent resolves this contradiction by changing the parameter of transition duration based on the phase of the ASR envelope. The attack phase uses a relatively short duration for quick driver takeover, while the release phase uses a longer duration for smooth autonomous control return. The sustain phase maintains full driver control with minimal delay. By varying the time parameters across different phases, the system achieves both smooth transitions and responsive driver control.
Solution Approach 2:
The ASR envelope creates a periodic structure in the control transition with distinct phases (attack, sustain, release) that repeat during mode switching. Each phase has a defined duration and function, creating a rhythmic pattern of control transfer. This periodic structure ensures that transitions are neither too abrupt nor too prolonged, balancing smoothness with responsiveness through regular phase progression.
3Device complexity
If fixed transition parameters are used, then system complexity is reduced, but adaptability to different driving scenarios deteriorates
Solution Approach 1:
The patent implements dynamic adaptability by allowing the ASR envelope parameters to be adjusted based on driving scenarios. While the basic envelope structure remains fixed (maintaining low complexity), the specific values for attack time, sustain time, and release time can be dynamically modified according to the situation. For example, in emergency scenarios, the attack phase can be shortened for faster driver takeover, while in normal conditions, longer transition times provide smoother control transfer.
Solution Approach 2:
The ASR envelope serves multiple functions across different driving scenarios and control transitions, making the system universally applicable. The same envelope mechanism handles both autonomous-to-manual and manual-to-autonomous transitions, and can be applied to different vehicle components (steering, acceleration, braking). This multi-functionality reduces the need for scenario-specific transition mechanisms while maintaining adaptability through parameter adjustment.
Data Source
AI summary
Disclosed are techniques for operating a driver-in-the-loop (DIL) component of a vehicle. In an aspect, the DIL component receives a first input signal generated based on a first interaction of a driver with a component of the vehicle operating in an autonomous driving mode, applies an attack-sustain-release (ASR) envelope to an amplitude of the first input signal to generate a first output signal representing at least a ramp-in of driver control over the component from no driver control to full driver control, and wherein the ramp-in of the driver control is limited by application of the ASR envelope to the amplitude of the first input signal, and transmits the first output signal to a controller module for the component of the vehicle to enable the controller module to reduce control over the component of the vehicle based on the ramp-in of the driver control represented by the first output signal.