Motor Controller Dynamic Responsiveness Adjustment
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Solution Overview
Problem
Existing motor control systems for assisting steering operations can disrupt the driver's experience with high responsiveness, leading to a wrong feeling due to counteracting torque during driver override and abrupt target follow control interventions.
Innovation Solution
A motor controller that adjusts the responsiveness of assist and follow controls based on detected driver or system interventions, using an intervention detector to generate assist and follow instructions that facilitate seamless switching between assist control and target follow control without leaving a wrong feeling for the driver.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If high responsiveness is used for lane keep control to ensure robustness and quick steering, then the system can quickly respond to external disturbances, but the cancelling torque may counter the driver's operation and leave a wrong feeling for the driver
Solution Approach 1:
The system dynamically adjusts the responsiveness of the follow control based on the detection of driver intervention. When driver intervention is detected, the responsiveness is lowered to avoid counteracting the driver's operation. When no intervention is detected, the responsiveness is maintained at a high level for quick response to external disturbances. This dynamic adjustment resolves the contradiction between high responsiveness and driver operation smoothness.
Solution Approach 2:
The system uses feedback from the intervention detector to adjust the control characteristics. The detection value of driver intervention is fed back to the follow controller, which then adjusts the responsiveness accordingly. This feedback mechanism allows the system to maintain high responsiveness when needed while avoiding disruption to driver operations when intervention is detected.
2Speed
If high responsiveness is used for target follow control to provide quick steering, then the system can quickly correct steering deviations, but the abrupt automatic steering toward target control value may leave a wrong feeling for the driver
Solution Approach 1:
The system dynamically adjusts the responsiveness of the follow control based on real-time detection of driver intervention. When driver intervention is detected, the responsiveness is reduced to provide smoother, more natural steering transitions. When no intervention is detected, the system maintains high responsiveness for quick correction of steering deviations. This dynamic adjustment resolves the contradiction between responsiveness and operational naturalness.
3Reliability
If the follow control generates great follow instruction to cancel driver intervention operation, then the automatic steering torque can counter the driver's torque, but the high responsiveness makes it difficult for the driver to perform intervention operation
Solution Approach 1:
The system dynamically adjusts the responsiveness of the follow control based on the detection of driver intervention. When driver intervention is detected, the responsiveness is lowered, which reduces the strength of the follow instruction and makes it easier for the driver to perform intervention operations. When no intervention is detected, the system maintains high responsiveness for stable control. This dynamic adjustment resolves the contradiction between control stability and intervention ease.
Data Source
AI summary
A motor controller has an assist controller generating an assist instruction for a generation of an assist torque based on a detection value of a steering torque, a follow controller obtaining a target value of a physical quantity regarding a steering operation and generating a follow instruction, and a motor driver driving, according to a sum of the assist instruction and the follow instruction, a motor that generates the assist torque and an automatic steering toque. In addition, the follow controller changes, according to a degree of intervention by a driver that is detected by an intervention detector, responsiveness of the follow control, making it possible to naturally hand over a motor control to the driver or to a system when the driver or the system intervenes a current control of the motor that generates the assist torque and/or the steering torque.