Robotic Steering Torque Compensation to Prevent Automated Override
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Solution Overview
Problem
Current robotic testing equipment for Automated Steering Systems unintentionally overrides these systems by inducing forces that are perceived as manual driver input, hindering effective performance evaluation.
Innovation Solution
A robotic driving system with a turntable and load sensor that calculates and compensates for resistive torque, preventing override by adjusting the steering torque to match the forces induced by the testing equipment, ensuring accurate evaluation of Automated Steering Systems.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If robotic testing equipment applies steering torque to rotate the steering wheel, then the steering wheel can be tested for automated steering system performance, but the equipment induces forces that are perceived as manual driver input causing unwanted override of the automated steering system
Solution Approach 1:
The system applies a compensatory torque through the transmission device that is equal and opposite to the resistive torque generated by the robotic equipment components. This counteracts the unwanted forces induced by the testing equipment, preventing the automated steering system from perceiving them as manual driver input and thus preventing unwanted override while maintaining accurate evaluation capability
Solution Approach 2:
The load sensor continuously measures the resistive torque generated by the robotic equipment components, and this measurement is fed back to the controller which calculates and applies the appropriate compensatory torque. This closed-loop feedback system ensures that the compensatory torque dynamically matches the induced forces, maintaining system stability during testing
2Measurement precision
If load sensor is mounted at a distance from the steering axis to measure force, then the measurement lever arm is increased improving measurement sensitivity, but the torque calculation complexity increases
Solution Approach 1:
The load sensor is positioned at a known distance from the steering axis to act as an intermediary measurement point. By measuring force at this intermediate location and using the known distance as a lever arm, the system can calculate the torque at the steering axis. This approach increases measurement sensitivity while the predetermined distance simplifies the calculation by eliminating the need for real-time distance measurement
Data Source
AI summary
The present disclosure is generally directed to a system and method of compensating for any forces induced by components of a robotic driving system, the robotic driving system including a turntable defining a steering axis and mounted to a steering wheel of a vehicle including an automated steering system, a robot frame mounted to the vehicle and including a support member, a transmission device coupled to the support member and operatively coupled to the turntable, a steering motor in driving engagement with the transmission device, a load sensor mounted between the support member and the transmission device at a known distance from the steering axis, and a controller in communication with the steering motor and the load sensor, the controller configured to adjust a steering torque generated by the steering motor to compensate for any forces induced by said robotic driving system to prevent overriding the automated steering system.