Autonomous Driving Steering Reference Acquisition for Early Activation
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Solution Overview
Problem
Autonomous driving vehicles face a decrease in operating rate due to the requirement that all references, such as a straight steering angle, must be acquired before starting autonomous driving, leading to delays until all conditions are met.
Innovation Solution
An autonomous driving vehicle system that acquires a first reference straight steering angle based on lateral acceleration, yaw rate, vehicle speed, and steering angle, and a second reference straight steering angle when the yaw rate difference is below a threshold, permitting autonomous driving when both are acquired, with a steering holding request made for the driver if only the first is available, ensuring steering stability and increasing operating rate.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the system requires both first reference straight steering angle and second reference straight steering angle to be acquired before permitting autonomous driving, then the steering stability and reliability are improved, but the operating rate of autonomous driving decreases due to extended waiting time
Solution Approach 1:
The system permits autonomous driving with only the first reference straight steering angle acquired, rather than requiring both first and second reference angles. This partial acquisition approach allows the autonomous driving function to operate sooner while maintaining adequate steering stability through the available reference data and driver steering holding requests.
2Productivity
If the system permits autonomous driving with only the first reference straight steering angle acquired, then the operating rate increases, but the steering stability may be compromised without the second reference angle
Solution Approach 1:
The system performs preliminary acquisition of the first reference straight steering angle and uses it to permit autonomous driving before the second reference straight steering angle is fully acquired. This preliminary action with available data enables earlier operation while the system continues to monitor and acquire the additional reference information in the background.
Solution Approach 2:
The driver's steering holding request acts as an intermediary mechanism that bridges the gap between partial reference angle acquisition and full steering stability. By requesting the driver to maintain steering input, the system compensates for the incomplete reference data and ensures adequate steering control during the transition period.
3Measurement precision
If the system strictly requires completion of all reference acquisition conditions, then the measurement precision and control accuracy are ensured, but the time delay increases and efficiency decreases
Solution Approach 1:
The system accepts partial acquisition of reference steering angles rather than requiring complete acquisition of all reference data. This approach reduces the time delay significantly while maintaining sufficient measurement precision for safe autonomous operation through the combination of available reference angles and real-time driver steering holding requests.
Data Source
AI summary
An autonomous driving vehicle includes a first reference straight steering angle acquisition unit configured to acquire a first reference straight steering angle which is a steering angle of the autonomous driving vehicle in a straight travelling state, a second reference straight steering angle acquisition unit configured to acquire a second reference straight steering angle which is the steering angle when a magnitude of a difference between an estimated yaw rate estimated from the steering angle of the autonomous driving vehicle and the yaw rate of the autonomous driving vehicle detected from the yaw rate sensor is less than a yaw rate threshold value, and an autonomous driving permission unit configured to permits an autonomous driving of the autonomous driving vehicle when both the first reference straight steering angle and the second reference straight steering angle are acquired.