Vehicle Driving Support Control Device Steering Assist Torque
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Solution Overview
Problem
In vehicle driving support systems, the transition from machine-controlled to driver-controlled operations often results in a sense of incongruity for the driver due to delayed environmental feedback and control inconsistencies, leading to reduced driver comfort and ineffective reflection of driver intentions.
Innovation Solution
A driving support control device incorporating both steering assist and torque vectoring mechanisms, where the control target values for steering assist torque and braking-driving force differences are determined based on the driver's steering torque, allowing for coordinated machine and driver inputs to reduce the sense of incongruity and enhance comfort.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a driving support control based on machine input is used to improve driving efficiency, then vehicle control precision is improved, but driver comfort deteriorates due to sense of incongruity
Solution Approach 1:
The patent merges machine input control with driver input control by determining control target values based on both the steering angle command value from the driving support control and the steering torque from the driver. This combination allows the system to maintain high control precision while reflecting driver intentions, thereby reducing the sense of incongruity and improving driver comfort.
Solution Approach 2:
The patent introduces feedback by detecting the steering torque applied by the driver and using it to adjust the control target values. The steering torque detector provides real-time feedback on driver input, which is then integrated with the machine-generated steering angle command, allowing the system to adapt to driver intentions and reduce incongruity.
2Speed
If control input gain is increased to improve vehicle response, then driving efficiency is improved, but driver comfort deteriorates due to increased sense of incongruity
Solution Approach 1:
The patent applies dynamics by making the control input gain variable rather than fixed. The gain is adjusted based on the detected steering torque, allowing the system to provide faster response when driver input is small while reducing the gain when driver input is large, thereby maintaining driver comfort across different operating conditions.
Solution Approach 2:
The patent changes the control parameter (input gain) based on the driver's steering torque. By dynamically adjusting the gain parameter according to driver input magnitude, the system achieves fast response when needed while avoiding excessive response that would cause driver discomfort.
3Stability of the object's composition
If steering assist torque is increased to improve lane keeping accuracy, then vehicle stability is improved, but driver comfort deteriorates due to conflict with driver steering input
Solution Approach 1:
The patent applies partial action by providing steering assist torque only when it complements the driver's steering input rather than opposing it. When the driver's steering torque aligns with the lane keeping requirement, the system provides assist torque; when they conflict, the system reduces or eliminates the assist torque, thereby maintaining vehicle stability when needed while avoiding driver discomfort.
Data Source
AI summary
There is provided a structure in a driving support system of a vehicle equipped with a steering assist mechanism and a torque vectoring mechanism of right and left wheels, the system capable of reducing an occurrence of a driver's sense of incongruity as much as possible also during the operation of a control based on a machine input and reflecting a driver's steering in the control. The inventive device comprises a steering assist torque controller which controls a steering assist torque given by the steering assist mechanism, a right and left braking-driving force difference controller which controls the braking-driving force difference between the right and left wheels given by the torque vectoring mechanism and a control target value determiner which determines the target values of the steering assist torque and braking-driving force difference for driving support control, based on the steering torque by the driver.