Autonomous Steering Torque Attenuation for Smooth Driver Override
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Solution Overview
Problem
Existing autonomous driving control systems cause a sense of difference or reaction force when a user intervenes in steering control, leading to discomfort due to the autonomous system's stronger steering angle control.
Innovation Solution
An autonomous driving control apparatus that adjusts control attenuation based on user required torque, using a torque sensor value and a torque map, to provide a smoother transition between user intervention and autonomous steering.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If the autonomous driving control apparatus performs steering angle control at stronger intensity to maintain control authority, then the autonomous control stability is improved, but the user experiences a sense of difference and discomfort due to reaction force through the steering wheel
Solution Approach 1:
The patent implements dynamic adjustment of control attenuation based on real-time detection of user required torque. The control attenuation is adjusted inversely proportional to the magnitude of user required torque, allowing the system to transition from strong autonomous control to more user-led control seamlessly. This dynamic adaptation resolves the contradiction by maintaining control stability when user intervention is minimal while reducing reaction force and improving comfort when user intervention is detected.
Solution Approach 2:
The system continuously monitors user required torque through torque sensors and uses this feedback to adjust the control attenuation in real-time. When user torque exceeds a threshold, the system reduces control attenuation, creating a feedback loop that balances autonomous control authority with user comfort. This feedback mechanism allows the system to respond adaptively to user intentions while maintaining overall control stability.
2Speed
If the autonomous driving control apparatus uses assist current map scheme for steering assistance, then the steering control responsiveness is improved, but the system cannot adapt to user intervention torque, causing sense of difference
Solution Approach 1:
The patent transitions from a static assist current map scheme to a dynamic control attenuation adjustment mechanism. The control attenuation is continuously adjusted based on detected user required torque, allowing the system to adapt its steering assistance characteristics in real-time. This dynamic approach maintains the responsiveness benefits of the original scheme while adding adaptability to user intervention, eliminating the sense of difference experienced by users.
Solution Approach 2:
The system changes the control parameter (control attenuation) based on user required torque magnitude. By adjusting this parameter dynamically, the system modifies its steering assistance behavior to match user intentions. This parameter change approach allows the system to maintain fast responsiveness while adapting to varying user intervention levels, resolving the contradiction between responsiveness and adaptability.
Data Source
AI summary
Disclosed is an autonomous driving control apparatus which includes a steering device, a memory, and a controller. The autonomous driving control apparatus determines a user required torque received through the steering device, while controlling a host vehicle based on a required steering angle, determines a torque sensor value corresponding to the user required torque, using the steering device, adjusts an amount of control attenuation about a usage ratio between the required steering angle and the user required torque, based on the torque sensor value, and performs steering control of the host vehicle, based on at least one of the required steering angle, the user required torque, or the amount of control attenuation, or any combination thereof.