Steer-by-Wire Mode Transition Synchronization
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Solution Overview
Problem
Steer-by-wire systems face challenges in transitioning smoothly between autonomous and manual control modes, particularly in vehicles equipped with EPS systems, where inertial impacts and diagnostic monitoring vary between modes, requiring adaptive solutions for safe and intuitive steering control transitions.
Innovation Solution
A system utilizing a processor and memory with instructions to manage operating mode transitions by determining planned trajectories, synchronizing road wheel and handwheel actuator angles, providing haptic feedback, and performing driver readiness assessments to facilitate smooth transitions between autonomous and manual control modes using a shared control transition mode.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the vehicle transitions from autonomous to manual control mode, then driver engagement is improved, but inertial impacts and control instability occur
Solution Approach 1:
The system performs preliminary actions by providing haptic feedback and notifications to the driver before the mode transition is complete, preparing the driver for the upcoming change in control mode and reducing the shock of sudden transitions
Solution Approach 2:
The system dynamically adjusts the transition process based on real-time conditions, including synchronized adjustment of handwheel and road wheel angles, and adaptive haptic feedback that varies during the transition to maintain stability while enabling driver engagement
2Ease of operation
If the handwheel angle is freely changed during transition, then driver control is improved, but synchronization with road wheel angle deteriorates
Solution Approach 1:
The system continuously monitors both handwheel angle and road wheel angle, providing feedback through haptic cues when angles are misaligned, and dynamically adjusting the transition to maintain synchronization while allowing driver input
Solution Approach 2:
The system uses an intermediary synchronized control mechanism that mediates between the driver's handwheel input and the road wheel position, ensuring that angle synchronization is maintained during the transition through coordinated adjustment of both actuators
3Loss of time
If the transition is performed quickly, then response time is improved, but haptic feedback and driver readiness assessment are compromised
Solution Approach 1:
The system uses periodic haptic feedback during the transition process to guide the driver through readiness assessments and confirm proper engagement, maintaining reliability through structured periodic interactions rather than continuous delays
Solution Approach 2:
The system performs preliminary driver readiness assessments and haptic feedback sequences before completing the transition, ensuring safety criteria are met while minimizing overall transition time through efficient pre-validation
Data Source
AI summary
A method for providing operating mode transition for a vehicle includes receiving an input indicating a request to transition from a first operating mode of the vehicle to a second operating mode of the vehicle and determining a first planned trajectory corresponding to the first operating mode. The method also includes determining a second planned trajectory corresponding to the second operating mode. The method also includes determining a first road wheel actuator angle corresponding to the first planned trajectory and determining a second road wheel actuator angle corresponding to the second planned trajectory. The method also includes determining a difference between a current handwheel actuator angle and a handwheel actuator angle corresponding to the second road wheel actuator angle and, in response to a determination that the difference is less than a threshold, transitioning from the first operating mode to the second operating mode over a determined period.