Vehicle Control Arbitration for Steering Middle Point Synchronization
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Solution Overview
Problem
Driver assistance devices in vehicles may experience fluctuations in the middle point for steering control due to variations in vehicle components, leading to an uncomfortable driving experience when control is switched among different assistance devices.
Innovation Solution
A vehicle control device with processors that receive and arbitrate requests from multiple driver assistance systems, calculate a unified motion request, and distribute it to actuator systems, while providing update information to ensure synchronized updating of the middle point, thereby minimizing disruptions during system switches.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If driver assistance devices update the middle point independently based on their own calculations, then each device can maintain accurate steering control, but the middle point fluctuates when control is switched between devices causing uncomfortable vehicle behavior
Solution Approach 1:
The patent merges the middle point management function into a single centralized entity (the arbitration target) that all driver assistance devices reference. Instead of each device independently calculating and maintaining its own middle point, they all acquire and use the same middle point information from the arbitration target, ensuring consistency across device switches while maintaining accuracy through centralized management.
Solution Approach 2:
The arbitration target acts as an intermediary between the driver assistance devices and the middle point data. This mediator receives middle point information, manages updates centrally, and distributes it to all assisting devices, preventing direct conflicts and fluctuations that would occur with independent device-to-device updates.
2Measurement precision
If the middle point is updated frequently to track component variations, then steering control accuracy is maintained, but control stability deteriorates due to fluctuations during device switching
Solution Approach 1:
The system performs preliminary actions by having the arbitration target prepare and hold the middle point information ready before device switching occurs. The arbitration target maintains the current middle point as the authoritative source, and all devices acquire this pre-prepared information, avoiding mid-switch updates that would cause instability.
Solution Approach 2:
The system implements feedback by having all driver assistance devices acquire middle point information from the arbitration target and use it consistently. The arbitration target monitors and manages the middle point state, ensuring that updates only occur when appropriate and that all devices receive consistent information, creating a stable feedback loop that prevents fluctuations.
Data Source
AI summary
A control device mounted on a vehicle, the control device includes one or more processors configured to: receive a plurality of first requests from a driver assistance system; arbitrate the first requests; calculate a second request based on an arbitration result, wherein the first requests and the second request are different physical quantities from each other; distribute the second request to at least one of a plurality of actuator systems; and output, to the driver assistance system, information regarding a middle point of a steering actuator included in the actuator systems in the driver assistance system.