Reactive Accelerator Pedal Mapping for Lane Change Deceleration
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Solution Overview
Problem
Existing autonomous vehicle systems face challenges in matching driver expectations for deceleration when using one-pedal functionality, leading to increased driver stress due to inconsistent vehicle speed control, particularly when cruising or encountering rapid deceleration by preceding vehicles.
Innovation Solution
A method and system that determine a lead vehicle and adjust the accelerator pedal calibration based on deceleration estimates, expanding the region of interest during turns and incorporating feedback force values to align with driver expectations, using sensors and processors to modify the accelerator pedal map and adjust torque conversion.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the vehicle uses one-pedal functionality with high deceleration rates, then the driver can regulate speed using the accelerator pedal alone, but the vehicle decelerates too much when the driver releases the accelerator pedal during cruising
Solution Approach 1:
The system dynamically adjusts the deceleration rate based on detected driving conditions. When a lead vehicle is detected, the system modifies the relationship between accelerator pedal position and vehicle deceleration, providing higher deceleration rates only when needed (when lead vehicle deceleration is detected) while maintaining normal deceleration during cruising, thus resolving the contradiction between ease of operation and excessive deceleration
Solution Approach 2:
The system continuously monitors the deceleration of the lead vehicle and uses this feedback to adjust the host vehicle's deceleration response. By comparing the lead vehicle's deceleration with the host vehicle's current state, the system adapts the accelerator pedal calibration to provide appropriate deceleration, preventing both excessive and insufficient deceleration scenarios
2Speed
If the vehicle does not decelerate enough when the driver releases the accelerator pedal, then the vehicle can maintain speed during cruising, but the driver experiences increased stress when the vehicle ahead decelerates rapidly
Solution Approach 1:
The system dynamically modifies the deceleration characteristics based on the detected behavior of the lead vehicle. When rapid deceleration of the lead vehicle is detected, the system adjusts the accelerator pedal calibration to provide sufficient deceleration response, preventing driver stress while maintaining normal speed maintenance during cruising conditions
Solution Approach 2:
The system changes the deceleration parameter (deceleration rate) based on the operational context. By detecting whether the lead vehicle is decelerating rapidly or cruising normally, the system adjusts the host vehicle's deceleration parameter accordingly, ensuring appropriate response in both scenarios and eliminating the contradiction between speed maintenance and driver stress
3Object-generated harmful factors
If the accelerator pedal calibration is adjusted to match driver expectations, then driver comfort and stress reduction are improved, but the system complexity increases due to continuous scene determination and machine learning methods
Solution Approach 1:
The system uses a multi-functional processor that performs both autonomous vehicle control and accelerator pedal calibration adjustment. By making the processor universal and capable of handling multiple functions (scene determination, machine learning inference, and calibration adjustment), the system reduces overall complexity compared to having separate dedicated systems for each function
Data Source
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AI summary
A reactive pedal algorithm is used to modify an accelerator pedal output (APO)-to-torque conversion to produce more deceleration for the same accelerator pedal position. Modifying the APO-to-torque conversion provides the driver of a vehicle the sensation that the vehicle is resisting approaching closer to a lead vehicle. The APO-to-torque conversion is modified based on a scene determination to classify vehicles as in-lane, neighbor-lane, or on-coming. Lane change assist methods and systems are used to modify the APO-to-torque conversion range based on a lead vehicle, a neighbor vehicle, or both.