Autonomous Vehicle Control Handover With Torque-Matched Mode Switching
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Solution Overview
Problem
Current autonomous vehicle systems face challenges in smoothly transitioning between autonomous and manual driving modes, leading to driver confusion and potential accidents due to the sensitivity of control units not being recognized promptly.
Innovation Solution
A control right switching system that initializes and transfers torque values for steering, accelerator, and brake pedals based on the current driving mode, gradually adjusting these values to minimize the difference in control feel during mode switching, using a processor to monitor and finalize the mode change within a predetermined time period.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a dedicated switch or voice recognition method is used for mode switching, then the driving mode can be changed, but the driver may not recognize the sensitivity of the control unit, causing confusion and potential accidents
Solution Approach 1:
The system performs preliminary action by initializing torque values of control units (steering wheel, accelerator pedal, brake pedal) before the actual mode switching occurs. This preparation ensures that when the driver transitions between autonomous and manual modes, the control sensitivity is already adjusted to the appropriate level, preventing driver confusion and maintaining reliability during the transition.
Solution Approach 2:
The system applies parameter changes by dynamically adjusting the torque values of control units based on the driving mode. When switching from autonomous to manual mode, the torque values are modified to match manual driving characteristics, and vice versa. This parameter adjustment ensures the driver perceives appropriate control sensitivity in each mode, resolving the contradiction between adaptability and reliability.
2Device complexity
If control right is transferred sequentially by module from driver to vehicle and vice versa, then the switching process is systematic, but the driver experiences sense of difference and confusion during transition
Solution Approach 1:
The system merges the switching processes of multiple control units (steering wheel, accelerator pedal, brake pedal) into a unified torque value initialization operation. Instead of handling each control unit independently with complex sequential switching, the system initializes torque values across all control units in an integrated manner, simplifying the system structure while improving driver adaptation by providing consistent control characteristics across all inputs.
3Reliability
If the vehicle control right is increased or reduced during mode switching, then the control transfer is achieved, but the sudden change in sensitivity causes driver confusion
Solution Approach 1:
The system applies beforehand cushioning by initializing torque values to appropriate target values before completing the mode switching. This preparatory adjustment cushions the transition by ensuring that when the driver interacts with control units during or after mode switching, the sensitivity is already at the appropriate level, preventing sudden jarring changes that would cause confusion or discomfort.
Data Source
AI summary
A method of switching a control right according to a driving mode of a vehicle in a control right switching system operated by at least one processor is provided. Upon receiving a command to switch a driving mode of a vehicle being in any one driving mode of a manual driving mode or an autonomous driving mode, a torque value of a control unit that controls the vehicle according to a current driving mode of the vehicle is initialized. Furthermore, after transferring a driving mode control right of the vehicle from a vehicle to a driver or from the driver to the vehicle by increasing or reducing a vehicle control right to control the vehicle, whether to switch the driving mode is determined through monitoring information obtained by the control unit in the vehicle whose driving mode was switched during a predetermined time period.