Standstill Steering Alignment for Automated Driving Engagement
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Solution Overview
Problem
Automated driving systems often fail to align the steering angle of a vehicle at standstill or low speed with the intended path, leading to potential deviations during maneuver initiation.
Innovation Solution
A computer-implemented method and system that detect the request for automated driving, calculate a desired steering angle, evaluate the initial steering angle, and either adjust it or instruct the driver to align it with the commanded steering angle before initiating a maneuver, using a path tracking quality index to determine the necessary adjustments.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If the automated driving system is enabled while the vehicle is at rest or at low speed, then the automated driving function becomes available, but the steering angle does not align with the intended path
Solution Approach 1:
The system performs preliminary evaluation of the steering angle alignment before the automated driving maneuver begins. By calculating the desired steering angle based on the intended path and comparing it with the initial steering angle, the system determines in advance whether adjustment is needed, preventing trajectory deviation from the start
Solution Approach 2:
The system implements a feedback mechanism by continuously monitoring the initial steering angle and comparing it against the desired steering angle calculated from the intended path. Based on this feedback, the system either initiates the maneuver directly or requests manual adjustment, ensuring accurate steering alignment
2Manufacturing precision
If the steering angle is adjusted using the vehicle steering system, then accurate trajectory following is achieved, but the system complexity increases
Solution Approach 1:
The system applies partial action by only engaging the steering system adjustment when necessary. The conditional logic evaluates the path tracking quality index and only requests steering adjustment when the initial alignment is insufficient, avoiding unnecessary system activation and reducing effective complexity
3Manufacturing precision
If the driver is instructed to manually adjust the steering angle, then trajectory accuracy is improved, but the ease of operation decreases
Solution Approach 1:
The system provides self-service by automatically evaluating whether steering adjustment is needed and only requesting manual intervention when necessary. The conditional evaluation of the path tracking quality index allows the system to handle most cases automatically, requiring driver action only in specific scenarios where adjustment is truly needed
Data Source
AI summary
A computer-implemented method that, when executed by data processing hardware, causes the data processing hardware to perform operations comprising detecting a request to enable an automated driving system of a vehicle while the vehicle is at rest or at a low speed, determining an intended path of the vehicle, determining an initial steering angle, calculating a desired steering angle based on the intended path, calculating a commanded steering angle, evaluating the initial steering angle versus the desired steering angle, and either (i) initiating a driving maneuver with the initial steering angle, or (ii) adjusting the steering angle based on the commanded steering angle before initiating the driving maneuver.