MDPS Steering Control for Rapid Mode Transition
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Solution Overview
Problem
Existing autonomous vehicle systems face challenges in accurately detecting driver steering intervention during autonomous driving, leading to potential mode transition issues and reduced user stability, especially during sudden steering conditions, which can compromise safety and convenience.
Innovation Solution
An apparatus and method for controlling Motor-Driven Power Steering (MDPS) that adjusts a reference torque map and variable count based on column torque to determine steering intervention, allowing for rapid mode transition from autonomous driving to driver mode by adjusting the blending period of both modes, thereby enhancing the accuracy of driver intervention detection and mode switching.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a preset holding time is used to determine driver steering intervention, then false detection is reduced, but response time to sudden steering increases
Solution Approach 1:
The patent applies dynamics by making the determination criteria adaptive rather than fixed. The system dynamically adjusts the steering intervention determination based on autonomous driving command steering angle acceleration. When acceleration exceeds a threshold, the system temporarily suspends intervention detection, effectively making the holding time requirement conditional and variable rather than static, thus resolving the contradiction between reliability and response time.
Solution Approach 2:
The patent changes the parameter used for determination from a fixed holding time to a dynamic threshold based on command steering angle acceleration. By monitoring the rate of change of steering angle and comparing it against thresholds, the system can rapidly detect genuine driver intervention even during autonomous driving, eliminating the need for prolonged holding time while maintaining detection accuracy.
2Stability of the object's composition
If mode transition is delayed during autonomous driving, then stability is maintained, but driver safety in emergency situations is compromised
Solution Approach 1:
The system dynamically adjusts mode transition timing based on real-time analysis of command steering angle acceleration. When the acceleration exceeds a predetermined threshold, the system immediately determines driver intervention and initiates mode transition, rather than waiting for a fixed holding period. This dynamic response maintains stability through smooth blending while ensuring rapid transition when safety requires it.
Solution Approach 2:
The system continuously monitors command steering angle acceleration and uses this feedback to determine when driver intervention has occurred. This real-time feedback mechanism allows the system to detect genuine driver input during autonomous driving and trigger appropriate mode transition, balancing stability with emergency response capability.
3Adaptability or versatility
If operation mode changes from position control to torque control, then adaptability to different driving conditions is improved, but output difference and user sense of insecurity increase
Solution Approach 1:
The patent applies preliminary action by calculating and applying blending outputs in advance during mode transitions. When transitioning between position control and torque control modes, the system pre-calculates the blended output based on current autonomous driving commands and gradually adjusts the actual output, preventing sudden changes that would cause user discomfort or insecurity.
Solution Approach 2:
The patent uses blending output as an intermediary between different control modes. Rather than directly switching from position control to torque control, the system introduces a blending mechanism that gradually transitions the control characteristics, smoothing the output and maintaining user sense of stability while preserving adaptability to different driving conditions.
Data Source
AI summary
An apparatus for controlling an motor-driven power steering (MDPS) may include: a driving information input unit configured to receive driving information; a steering angle position control unit configured to receive a command steering angle and a current motor steering angle of a driving motor, and output an autonomous driving command; and an MDPS control unit configured to drive the driving motor based on the autonomous driving command in an autonomous driving mode, determine whether a driver intervenes in steering, calculate a driver command by the driver's steering according to whether the driver intervenes in steering, and change an operation mode from the autonomous driving mode to a driver mode while driving the driving motor with a compensation output between the driver command and the autonomous driving command.