Steering Controller Haptic Feedback Filtering for Self-Driving Vehicles
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Solution Overview
Problem
In self-driving vehicles, driver input torque can interfere with automated steering systems, leading to noisy feedback signals that affect the driving experience and customer satisfaction.
Innovation Solution
A steering controller that filters path follower angle requests based on driver engagement levels, adaptively reducing haptic feedback signals to enhance driver comfort by integrating torque detection, engagement determination, and feedback transmission circuitry.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If driver input torque is allowed to interfere with automated steering systems, then driver control capability is maintained, but noisy feedback signals are generated that degrade driving experience
Solution Approach 1:
A filter circuit is introduced as an intermediary component between the automated steering system and the driver feedback path. This filter selectively attenuates noisy feedback signals generated during self-driving mode while preserving meaningful haptic feedback, thereby resolving the contradiction by allowing driver control capability to coexist with reduced noise interference
Solution Approach 2:
The system dynamically adjusts the filtering parameters based on driver engagement levels. When driver input torque exceeds a threshold indicating active engagement, the filter characteristics are modified to reduce noise transmission. This parameter adaptation allows the system to maintain driver control authority while minimizing harmful feedback noise during automated operation
2Loss of information
If haptic feedback signals are transmitted to the steering wheel, then driver awareness of vehicle environment is enhanced, but unnecessary steering wheel movements occur that reduce driver comfort
Solution Approach 1:
The filter circuit applies selective attenuation to different components of the haptic feedback signal. Rather than uniformly blocking all feedback, the circuit preserves locally important information (relevant environmental cues) while filtering out locally harmful components (noise causing unnecessary movements). This localized signal processing maintains driver awareness while eliminating comfort-degrading movements
Solution Approach 2:
The system implements a feedback mechanism that monitors steering wheel movements and driver input torque. When unnecessary movements are detected, the feedback loop adjusts the filter characteristics in real-time to suppress such movements while maintaining essential haptic feedback. This closed-loop control ensures driver awareness is preserved without the penalty of uncomfortable unnecessary movements
Data Source
AI summary
Methods and apparatus to control haptic feedback signals in a self-driving vehicle are disclosed. An example apparatus comprises interface circuitry, machine-readable instructions, and at least one processor circuit to be programmed by the machine-readable instructions to detect a torque input to a steering wheel of a vehicle, the at least one processor circuit executing the machine-readable instructions to steer the vehicle along a path, determine a driver engagement metric based on the torque input, and based on a comparison of the driver engagement metric to a threshold, transmit a feedback signal to the steering wheel, the feedback signal indicative of an environment in which the vehicle is operating.