Vehicle Steering Input Classification by Frequency and Magnitude
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Solution Overview
Problem
Conventional vehicle track control systems struggle to accurately distinguish between steering inputs based on a driver's intention and those caused by disturbances, leading to interference with the driver's intended behavior, as they rely solely on the magnitude of steering inputs without considering frequency.
Innovation Solution
A control apparatus that determines whether a steering input is overriding or a disturbance by analyzing both the magnitude and frequency of the input, using filtering devices to separate low-frequency overriding inputs from higher-frequency disturbances, and adjusts control variables accordingly to reflect the driver's intention while suppressing disturbances.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If only the magnitude of steering input is used for determination, then the determination process is simple, but the accuracy of distinguishing overriding from disturbance is insufficient
Solution Approach 1:
The patent transitions from one-dimensional magnitude-based determination to two-dimensional determination by incorporating frequency as an additional dimension. The determining device analyzes both the magnitude and frequency of steering inputs, enabling accurate classification of overriding (low frequency) from disturbance (high frequency) while maintaining a relatively simple determination process.
Solution Approach 2:
The patent changes the parameters used for determination from solely magnitude to a combination of magnitude and frequency. By introducing frequency as a new parameter and using filtering devices to separate frequency components, the system achieves high accuracy in distinguishing overriding from disturbance without significantly increasing complexity.
2Reliability
If track control corrects all steering inputs, then vehicle behavior is stabilized, but driver's intended overriding is interfered with
Solution Approach 1:
The patent segments steering inputs into two categories: overriding (low frequency components) and disturbance (high frequency components). The track control is applied selectively - suppressing disturbance components while allowing overriding components to pass through unchanged. This segmentation enables the system to maintain vehicle stability for disturbances while preserving driver intention for overriding.
Solution Approach 2:
The patent extracts low frequency components from the steering input signal using filtering devices. By taking out and separately handling the overriding portion (low frequency) from the disturbance portion (high frequency), the system can apply different control strategies - suppressing extracted disturbance components while preserving the extracted overriding components that reflect driver intention.
3Ease of operation
If track control stops upon detecting steering input, then overriding is protected, but disturbance correction is delayed
Solution Approach 1:
The patent segments the steering input signal into frequency components and applies different responses to each segment. Low frequency components (overriding) are allowed to pass through without stopping track control, while high frequency components (disturbance) are suppressed in real-time. This enables simultaneous protection of driver overriding and quick response to disturbances.
Solution Approach 2:
The patent changes the control parameter from a binary stop/continue decision to a frequency-based continuous modulation. By analyzing the frequency parameter of steering inputs, the system dynamically adjusts control - allowing low frequency overriding inputs while suppressing high frequency disturbance inputs, achieving both protection and quick response without stopping track control.
Data Source
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AI summary
The purpose is to determine whether or not the steering input which is given when the track control is performed is the overriding. An apparatus (100) for controlling a vehicle (1) provided with a steering apparatus (200) is provided with: a first target controlled variable setting device (120) for setting a first target controlled variable regarding the steering apparatus for track control which makes a track of the vehicle follow a target track; a controlling device for performing the track control by controlling the steering apparatus on the basis of the set first target controlled variable; a specifying device for specifying magnitude of ta steering input and frequency in a period of performing the track control; and a determining device (113) for determining whether or not the steering input is overriding on the basis of the specified magnitude and frequency.