Steering Angle Blending for Driver Torque in Self-Driving Mode
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Solution Overview
Problem
Existing self-driving vehicle systems face challenges in overlaying driver input torque on path follower angle requests, leading to the deactivation of boost curves during self-driving mode, which compromises driver input integration.
Innovation Solution
The implementation of a virtual boost curve (VBC) system that generates a VBC angle request based on driver torque input, blends this with the path follower angle request using an angle blending weight, and converts the final angle request to a torque request to adjust the steering angle.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the path follower controller determines torque based solely on path following requirements during self-driving mode, then path following precision is improved, but driver input integration deteriorates
Solution Approach 1:
The patent merges the path follower angle request with the virtual boost curve angle request derived from driver torque input. The steering controller combines these two angle requests to determine the final steering command, allowing both automated path following precision and driver input integration to coexist during self-driving mode.
Solution Approach 2:
The patent introduces a virtual boost curve as an intermediary mechanism that translates driver torque input into an angle request. This virtual boost curve acts as a mediator between the driver's physical input and the path follower controller, enabling seamless integration without compromising the automated control architecture.
2Device complexity
If boost curves are deactivated during self-driving mode, then system simplicity is improved, but driver input response deteriorates
Solution Approach 1:
The patent creates a virtual copy of the traditional boost curve functionality that operates in parallel during self-driving mode. This virtual boost curve replicates the essential torque-to-angle transformation without requiring physical hardware modifications or complex system reconfiguration, maintaining simplicity while enhancing driver input response.
Solution Approach 2:
The patent implements a dynamic control architecture where the steering controller adaptively blends the path follower angle request and the virtual boost curve angle request based on driving conditions. This dynamic approach allows the system to maintain simplicity through automated control while preserving driver input responsiveness when needed.
3Measurement precision
If the steering controller processes both path follower angle requests and driver torque input separately, then control precision is improved, but processing complexity deteriorates
Solution Approach 1:
The patent transforms the driver torque input (a force dimension) into an angle request (a rotational dimension) through the virtual boost curve. This dimensional transformation allows both the path follower angle request and driver input to be processed in the same angular domain, simplifying the blending operation while maintaining control precision.
Data Source
AI summary
Methods and apparatus to adjust a steering angle of a vehicle in a self-driving mode are described herein. An example vehicle disclosed herein includes a steering controller including instructions and programmable circuitry to execute the instructions to access a path follower (PF) angle request, generate a virtual boost curve (VBC) angle request based on a torque input to a steering wheel, determine an angle blending weight based on the torque input and a speed of the vehicle, determine a final angle request based on the PF angle request, the VBC angle request, and the angle blending weight, and convert the final angle request to a torque request to be used to adjust a steering angle of the vehicle via a motor.