Steering Intervention Detection for Smooth Autonomous Control Handover
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Solution Overview
Problem
Existing systems struggle to accurately and promptly determine a driver's intervention in steering operations during autonomous driving, leading to potential discomfort and inefficiencies due to delayed recognition of steering interventions.
Innovation Solution
An intervention operation determination apparatus that includes a steering unit, actuator, detection unit, and controller, which determines steering interventions based on deviations and change rates between target and actual steering angles or positions, allowing early recognition of driver inputs.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the autonomous driving control continues without recognizing driver intervention for a predetermined period, then the control stability is maintained, but the driver feels uncomfortable due to counteractive torque from the actuator
Solution Approach 1:
The system performs preliminary detection of driver intervention by monitoring steering torque and steering angle deviations before the predetermined time period elapses. When intervention is detected through these parameters, the system switches to manual control mode in advance, preventing the actuator from applying counteractive torque and thus avoiding driver discomfort while maintaining control stability.
2Measurement precision
If the steering intervention determination is delayed, then false detection due to external disturbance is reduced, but the response time to driver intervention becomes slower
Solution Approach 1:
The system performs preliminary detection using multiple parameters (steering torque, steering angle deviation, and their change rates) to identify potential driver intervention early. This preliminary detection triggers a switching process that begins before the full predetermined time period elapses, achieving both early response and accurate determination by using progressive threshold evaluations.
Solution Approach 2:
The system dynamically adjusts the detection thresholds and evaluation criteria based on real-time steering conditions. By monitoring both the magnitude and change rate of steering parameters, the system adapts its sensitivity to distinguish between genuine driver intervention and external disturbances, optimizing both response time and detection accuracy.
3Adaptability or versatility
If the autonomous driving control switches to manual control based on camera detection of driver steering attempt, then the driver's intended operation is recognized, but the control becomes complicated and may switch back and forth
Solution Approach 1:
The system merges multiple detection methods (camera-based driver behavior detection, steering torque sensing, and steering angle monitoring) into a unified control switching decision. By integrating these detection sources and evaluating them together against coordinated thresholds, the system achieves reliable driver intent recognition while simplifying the overall control logic and preventing erratic switching between manual and autonomous modes.
Data Source
AI summary
An intervention operation determination apparatus includes: a steering unit operated by a driver; a steering wheel to be turned in conjunction with the operation of the steering unit; and a detection unit that detects an operation amount of the steering unit when a steering force that turns the steering wheel is generated. The intervention operation determination apparatus determines that the driver has operated the steering unit during autonomous driving in which traveling by controlling an actuator without an operation of the steering unit by the driver is performed. The intervention operation determination apparatus further includes a controller that controls the actuator. The controller determines that there has been an intervention operation in which the driver operates the steering unit based on a deviation between a target steering angle in the autonomous driving and an actual steering angle based on an operation amount detected by the detection unit.