Autonomous Vehicle Steering Rate Limiting and Human Override
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Solution Overview
Problem
Autonomous vehicles face challenges in allowing human operators to effectively intervene and take control of the steering mechanism, particularly when the rate of change in the steering mechanism's position exceeds a limit that a human can react to, potentially leading to safety issues.
Innovation Solution
A computer-implemented method and system that monitor the rate of change of the autonomous vehicle's steering mechanism and adjust the force applied to prevent excessive movement, allowing human operators to intervene by overriding the motor controller and switching elements, thereby ensuring safe and controlled operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If the autonomous vehicle steering mechanism allows high rate of change for rapid response, then the vehicle responsiveness is improved, but human operator ability to take control deteriorates
Solution Approach 1:
The system continuously monitors the rate of change of the steering mechanism and provides feedback to the control system. When the rate exceeds a threshold, the system responds by reducing motor torque or disengaging the motor controller, allowing human operator intervention. This feedback loop enables automatic adjustment based on operational conditions while preserving human control capability when needed.
Solution Approach 2:
The steering mechanism employs dynamic control where the motor torque is adjusted in real-time based on the detected rate of change. The system transitions between different operational states (normal operation, rate-limiting mode, and manual override mode) to optimize both responsiveness and human controllability depending on the situation.
2Ease of operation
If the system limits the rate of change to ensure human controllability, then human operator ability to take control is improved, but vehicle responsiveness deteriorates
Solution Approach 1:
The system applies rate limiting only partially - when the steering rate exceeds the threshold, the motor torque is reduced or disengaged rather than completely blocking steering input. This partial action allows the vehicle to maintain responsiveness within safe limits while still enabling human operator intervention when necessary, avoiding excessive restriction of steering capability.
3Power
If the motor controller applies high torque for rapid steering adjustment, then the steering response is improved, but safety deteriorates due to potential unsafe high-rate movements
Solution Approach 1:
The system implements preliminary safety measures by monitoring the steering rate before unsafe conditions occur. When the rate approaches the threshold, the system proactively reduces motor torque or disengages the motor controller to prevent unsafe high-rate movements. This preliminary anti-action ensures safety is maintained while allowing high power output when operating within safe parameters.
Data Source
AI summary
Systems and methods for controlling an autonomous vehicle steering mechanism are provided. In one example embodiment, a computer implemented method includes obtaining, by a computing system that includes one or more computing devices, data associated with a steering mechanism of an autonomous vehicle. The method includes identifying, by the computing system, a rate of change associated with the steering mechanism of the autonomous vehicle based at least in part on the data associated with the steering mechanism. The method includes determining, by the computing system, that the rate of change exceeds a rate limit associated with the steering mechanism of the autonomous vehicle. In response to determining that the rate of change exceeds the rate limit, the method includes adjusting, by the computing system, the steering mechanism of the autonomous vehicle.