Blending Steering Control Module for Operator Intent Integration
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Solution Overview
Problem
Existing electronic power steering systems do not effectively integrate operator intent into the control inputs of the actuator, leading to a lack of natural steering feel and intuitive control, especially when the operator desires to deviate from the assisted trajectory.
Innovation Solution
A method and system that estimate handwheel pressure and torque, generate a scaled operator intent value, and produce an output torque value to selectively control the vehicle trajectory, allowing for seamless integration of operator intent into the control loop while maintaining a natural steering feel and intuitive control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the EPS system provides strong steering assist to reduce operator effort, then ease of operation is improved, but the operator's ability to intuitively control vehicle trajectory and deviate from assisted path is degraded
Solution Approach 1:
The system dynamically adjusts the blending between operator intent and vehicle trajectory based on real-time conditions. The control module continuously modifies the weighting factor applied to operator inputs, allowing the steering assist level to vary dynamically rather than remaining fixed, thus resolving the contradiction between providing consistent assist and allowing operator override
Solution Approach 2:
The system incorporates feedback from multiple sensors including handwheel torque sensors and pressure sensors to continuously monitor operator inputs. This feedback loop allows the control module to detect when the operator intends to deviate from the assisted trajectory and adjust the blending accordingly, maintaining both ease of operation and operator control authority
2Adaptability or versatility
If the system integrates operator intent into control inputs, then adaptability is improved, but device complexity increases due to additional sensors and control logic
Solution Approach 1:
The control module serves multiple functions: it processes vehicle trajectory data, integrates operator intent from multiple sensor sources, performs blending calculations, and outputs control signals to the actuator. By making the control module multi-functional rather than adding separate dedicated components for each function, the system achieves operator intent integration without proportionally increasing complexity
Solution Approach 2:
The control module acts as an intermediary that receives inputs from multiple sources (vehicle trajectory system, handwheel torque sensor, pressure sensor) and produces a blended output to the actuator. This intermediary approach allows integration of operator intent without requiring direct complex interactions between all system components, simplifying the overall system architecture
3Measurement precision
If the system uses multiple sensors to estimate handwheel pressure and torque, then measurement precision is improved, but device complexity increases
Solution Approach 1:
The system merges the functionality of multiple sensors (handwheel torque sensor and pressure sensor) into a unified measurement approach. By combining data from these sensors and processing them together in the control module to estimate both torque and pressure, the system achieves precise measurement without requiring completely separate measurement systems, thus reducing overall complexity while maintaining precision
Data Source
AI summary
A blending steering control method includes estimating a handwheel pressure applied by an operator to a handwheel and receiving a handwheel torque input indicating a torque value applied by the operator to the handwheel. The method also includes receiving a target handwheel angle indicating a target handwheel angle of an electronic power steering system configured to control a corresponding vehicle along a defined path. The method also includes generating a scaled operator intent value based on the estimated handwheel pressure and the handwheel torque and generating an output torque value based on the target handwheel angle and scaled operator intent value. The method also includes selectively controlling vehicle trajectory based on the output torque value.