Steering Actuator Diminished Mode Envelope
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Solution Overview
Problem
Autonomous vehicle steering systems face performance issues when they cannot achieve the expected turning radius, leading to diminished steering capabilities, which can cause the vehicle to perform inconsistently with control system commands, reducing its ability to accommodate certain curvatures at specific velocities.
Innovation Solution
A computing device is programmed to determine the transition to a diminished operating mode of the steering system actuator, calculating maneuverable envelopes for vehicle velocity and path curvature, allowing the vehicle to select a suitable velocity within these limits to maintain safe operation, even with reduced steering capabilities.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the steering system operates in a diminished mode with reduced actuator performance, then the vehicle can maintain basic steering functionality, but the available turning radius increases (curvature decreases) at a given velocity
Solution Approach 1:
The system dynamically adjusts the maneuverable envelope parameters (maximum curvature and velocity limits) based on the detected actuator performance level. When diminished mode is detected, the control system modifies the velocity-curvature relationship in real-time, allowing the vehicle to operate safely within reduced steering capabilities while maintaining stability across varying operating conditions
Solution Approach 2:
The system changes the operational parameters (velocity and curvature limits) based on the actuator's performance state. By detecting the diminished mode and adjusting the maneuverable envelope parameters accordingly, the system adapts the vehicle's operating characteristics to match the reduced steering capability, ensuring safe operation despite the performance degradation
2Productivity
If the vehicle maintains higher velocity, then productivity is improved, but the ability to achieve expected curvature diminishes when steering system performance is reduced
Solution Approach 1:
The system continuously monitors actuator performance and vehicle operating conditions, using this feedback to dynamically adjust the maneuverable envelope parameters. When diminished mode is detected, the feedback loop modifies the velocity-curvature relationship to ensure the vehicle remains within safe operational limits, automatically balancing productivity requirements with steering capability constraints
3Adaptability or versatility
If the steering system is designed for full performance capability, then device complexity increases, but operation in diminished mode becomes more challenging
Solution Approach 1:
The control system is designed to universally handle multiple operating modes (full performance and diminished modes) through a single integrated maneuverable envelope adjustment mechanism. The same control architecture and parameter adjustment logic apply regardless of the actuator's performance level, allowing the system to adapt to different conditions without requiring separate control systems for each mode
Data Source
AI summary
A system includes a computing device that includes a processor and a memory. The memory stores instructions executable by the processor. One instruction is to determine a transition in performance of a steering system actuator of a vehicle to a diminished operating mode. Another instruction is to determine a maneuverable envelope of vehicle velocity and path curvature adapted to the diminished operating mode. Another instruction is to select a vehicle velocity within the envelope for a path curvature.