EPS Controller Unified Autonomous Manual Mode Steering
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Solution Overview
Problem
Conventional automotive steering systems face limitations in seamlessly transitioning between autonomous and manual driving modes, requiring different controllers and lacking efficient methods to enforce constraints for safe and reliable operation.
Innovation Solution
A single controller, such as an Electric Power Steering (EPS) controller, is configured to operate in both modes using a reference governor-type feature to enforce constraints, translating driver input torque into a desired vehicle heading, ensuring drivability by managing the relative motion between the steering wheel and vehicle wheels.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If conventional active steering systems use separate controllers for autonomous and manual modes, then each mode can be optimized independently, but the system complexity increases and seamless transition between modes becomes difficult
Solution Approach 1:
The patent merges the autonomous mode controller and manual mode controller into a single integrated controller that can operate in both modes. The controller includes a mode determination unit that switches between autonomous control mode and manual control mode based on driving conditions, eliminating the need for separate controllers and enabling seamless transitions while maintaining optimization for both modes.
2Ease of operation
If conventional steer-by-wire systems maintain traditional torque feedback relationships, then driver familiarity is preserved, but the ability to enforce safety constraints and enable autonomous operation is limited
Solution Approach 1:
The patent implements dynamic torque feedback that adapts based on the operating mode. In manual mode, the system provides traditional torque feedback proportional to driver input to maintain driver familiarity. In autonomous mode, the system dynamically adjusts or eliminates torque feedback while enforcing safety constraints through the controller, enabling seamless adaptation between different operational requirements.
3Device complexity
If a single controller is used for both autonomous and manual modes, then system complexity is reduced and seamless operation is enabled, but the ability to enforce constraints and ensure safety may be compromised
Solution Approach 1:
The patent segments the controller into distinct functional units: a mode determination unit that identifies the current operating mode, an autonomous control unit for autonomous operation, a manual control unit for manual operation, and a constraint enforcement unit that ensures safety requirements are met in both modes. This segmentation allows the single controller to maintain simplicity while reliably enforcing safety constraints through dedicated functional blocks.
Data Source
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AI summary
Systems and methods for an imaging system having a memory with a historical localization dictionary database having geo-located driving image sequences, such that each reference image is applied to a threshold to produce a binary representation. A sensor to acquire a sequence of input images of a dynamic scene. An encoder to determine, for each input image in the sequence, a histogram of each input image indicating a number of vertical edges at each bin of the input image and to threshold the histogram to produce a binary representation of the input image. A visual odometer to compare the binary representations of each input image and each reference image, by matching an input image against a reference image. Wherein the visual odometer determines a location of the input image based on a match between the input image and the reference image.