Steering Torque Curve Segmentation for Driver Control Detection
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Solution Overview
Problem
In autonomous driving systems, it is challenging to unambiguously determine whether a steering angle change is caused by the driver or the automatic control system due to the reliance on a single sensor for measuring steering torque, leading to uncertainty in adjusting driving dynamics.
Innovation Solution
A method that subdivides the steering torque curve into sections with steadily rising or falling torque, using two angular acceleration sensors to differentiate between driver and automatic control system inputs by comparing accelerations at the beginning of each section, allowing clear assignment of steering changes to either the driver or the automatic control system.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If a single sensor is used to measure steering torque, then the device complexity is reduced, but the ability to unambiguously determine the source of steering angle changes deteriorates
Solution Approach 1:
The steering torque curve is segmented into multiple sections, each representing a distinct control phase. By dividing the continuous steering torque signal into discrete segments with steady rising or falling characteristics, the system can analyze each section independently to determine whether the driver or automatic control system is active, thereby resolving the ambiguity that arises from using a single sensor.
2Measurement precision
If steering torque curve is subdivided into sections with steady rise or fall, then the control situation detection accuracy is improved, but the processing complexity increases
Solution Approach 1:
The sectioning of the steering torque curve is performed dynamically based on the actual signal characteristics. Sections are defined by identifying points where the steering torque curve transitions from steady rising to steady falling or vice versa, allowing the system to adapt to varying driving conditions and control situations without requiring predetermined fixed intervals or complex manual configuration.
3Measurement precision
If two angular acceleration sensors are used to differentiate driver and automatic control inputs, then the control situation detection accuracy is improved, but the device complexity increases
Solution Approach 1:
Angular acceleration serves as an intermediary physical quantity that mediates between the steering torque input and the final steering angle output. By measuring angular acceleration at two different points in the steering system, the patent indirectly detects the source of steering inputs without requiring direct communication or complex signal processing from the control systems themselves.
Solution Approach 2:
The steering torque curve is segmented into multiple sections, each representing a distinct control phase. By dividing the continuous steering torque signal into discrete segments with steady rising or falling characteristics, the system can analyze each section independently to determine whether the driver or automatic control system is active, thereby resolving the ambiguity that arises from using a single sensor.
Data Source
AI summary
A method for detecting a control situation of a vehicle comprising an automatic control system. A steering torque curve applied to the steering of the vehicle is subdivided into sections in which the steering torque curve steadily rises or falls, and an angular acceleration caused by a driver and detected by a first steering angle sensor at the beginning of the respective section by a first part of the steering rod as a first angular acceleration is compared to a second angular acceleration detected by a second steering angle sensor at the beginning of a respective section caused by an automatic control system with a toothed rack connected to the steering rod or a second part of the steering rod. Depending on a result of the comparison, a corresponding steering torque curve of the respective section is assigned to the driver or to the automatic control system.