Lane-Keeping Steering Torque Tuned to Driver Arm Mechanics
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Solution Overview
Problem
Conventional lane keeping systems apply steering torque to the motor without considering the mechanical characteristics of the steering person's arm, leading to discomfort.
Innovation Solution
A control device that includes an assist control unit generating instruction torque for the motor, taking into account the mechanical characteristics of the steering person's arm, and a lane keeping system with an imaging device to adjust steering mechanism control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If PI control is used to calculate steering torque based on deviation between target and current steering angles, then lane keeping function is achieved, but the steering torque does not consider the mechanical characteristics of the steering person's arm, causing discomfort
Solution Approach 1:
The control device changes the parameters of the instruction torque by multiplying the base torque (from PI control) by a correction value derived from the transfer function that represents the arm's mechanical characteristics. This adjusts the torque frequency characteristics to match the arm's natural response, improving comfort without requiring a completely new control architecture.
Solution Approach 2:
A transfer function is introduced as an intermediary element between the PI control output and the final instruction torque. This transfer function, derived from the arm's mechanical characteristics, acts as a mediator that shapes the torque frequency characteristics to be compatible with the arm's natural response, thereby improving comfort while maintaining the simplicity of the overall control structure.
2Reliability
If driving force is applied to the steering mechanism without considering arm mechanical characteristics, then lane keeping control is achieved, but discomfort is given to the steering person
Solution Approach 1:
The instruction torque parameters are modified by applying a correction value based on the transfer function that represents the arm's mechanical characteristics. This adjusts the frequency characteristics of the torque to match the arm's natural response range, ensuring comfortable steering while maintaining effective lane keeping control.
Solution Approach 2:
The control system dynamically adjusts the instruction torque by applying a time-varying correction value derived from the transfer function. This allows the steering torque to adapt to the dynamic mechanical characteristics of the arm, improving comfort while maintaining reliable lane keeping performance across different operating conditions.
Data Source
AI summary
One aspect of a control device of the present invention is a control device that includes a motor and controls the steering mechanism mounted on a vehicle. The control device includes an assist control unit that generates an instruction torque to be input to the motor. The assist control unit generates the instruction torque in consideration of a mechanical characteristic of an arm of a steering person.