Smooth Steering Override Transition During Automated Lane Centering
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Solution Overview
Problem
Existing autonomous and semi-autonomous vehicle steering systems face challenges in accurately detecting driver override, leading to unreliable transitions, particularly at high and low speeds, resulting in jerking motions due to sudden control changes.
Innovation Solution
A system that measures vehicle steering measurements, calculates expected values, and gradually transfers control from the automated system to the driver within a predetermined period by defining override transition zones based on measured and expected steering torque and angle differences, ensuring a smooth transition and reducing jerking sensations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If the automated steering system uses a fixed threshold for detecting driver override, then the system structure is simple, but the detection reliability deteriorates at high and low speeds causing jerking motions
Solution Approach 1:
The patent applies dynamics by making the override detection threshold variable rather than fixed. The threshold adapts based on vehicle speed, being higher at low speeds to prevent false detection of normal steering efforts, and adjusted at high speeds to maintain sensitivity. This dynamic adjustment resolves the contradiction by maintaining detection reliability across different operating conditions without requiring an overly complex system structure.
Solution Approach 2:
The patent changes the parameter of the detection threshold based on vehicle speed conditions. By modifying the threshold parameter dynamically according to speed, the system maintains reliable override detection across different operating regimes. This parameter change approach allows the system to distinguish between normal driver steering inputs and genuine override attempts without increasing structural complexity.
2Speed
If the automated steering system immediately relinquishes control upon detecting override, then the response speed is fast, but the transition smoothness deteriorates causing jerking motions
Solution Approach 1:
The patent applies preliminary action by initiating a gradual control transfer process before complete override occurs. When the system detects that the driver intends to override, it begins transferring control incrementally over a transition period rather than immediately. This preliminary gradual transfer prevents sudden jerking motions while still achieving fast overall response, resolving the contradiction between response speed and transition smoothness.
Solution Approach 2:
The patent uses periodic action by implementing control transfer in discrete time intervals or steps rather than continuously or instantly. The gradual relinquishment of automated control occurs over multiple measurement cycles, allowing the system to maintain stability during transition while still responding quickly to the driver's override intent. This periodic approach balances response speed with transition smoothness.
Data Source
AI summary
Vehicle steering measurements of a vehicle may be measured. Expected vehicle steering measurements may be calculated, each calculated expected vehicle steering measurement corresponding to one of the measured vehicle steering measurements. At least one difference between one of the measured vehicle steering measurements and its corresponding calculated expected vehicle steering measurement may be calculated. A lower boundary and an upper boundary of at least one override transition zone, each of the override transition zones corresponding to one of the measured vehicle steering measurements and its corresponding calculated expected vehicle steering measurement, may be calculated. Steering control of the vehicle may be gradually transferred from an automatic vehicle control system to a driver of the vehicle over a predetermined period of time when one or more of the calculated differences lie between the calculated lower boundary and the calculated upper boundary of the corresponding override transition zone.