Steering Torque Coordination for Driver Intervention in Autonomous Vehicles
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Solution Overview
Problem
Existing vehicles with autonomous driving capabilities face issues in maintaining both convenience and travel stability when a driver intervenes during autonomous driving, as they either ignore or prioritize driver operations over autonomous instructions, leading to degraded performance.
Innovation Solution
A vehicle platform that includes a steering wheel, a steering motor, and a control device to classify driver interventions into categories, adjusting steering motor torque based on driver intent, allowing coordinated steering between the driver and autonomous system.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the vehicle always gives priority to driver operations over autonomous instructions, then convenience is improved, but travel stability is degraded
Solution Approach 1:
The system changes the parameter of control priority dynamically based on the category of driver intervention. When intervention is classified as accidental (small torque, brief duration), the autonomous system maintains priority. When intervention is classified as intentional (large torque, sustained duration), the driver's control priority is elevated. This parameter-based dynamic adjustment resolves the contradiction by adapting the priority level to the specific situation.
Solution Approach 2:
The system implements feedback by continuously monitoring steering torque and intervention duration, classifying the type of driver intervention, and adjusting the control priority accordingly. This closed-loop feedback mechanism allows the system to distinguish between accidental and intentional interventions, maintaining travel stability for accidental inputs while enabling convenience for intentional driver actions.
2Reliability
If the vehicle always ignores driver operations during autonomous driving, then travel stability is improved, but convenience is degraded
Solution Approach 1:
The system transitions from a static control mode (always ignoring or always prioritizing driver input) to a dynamic control mode where the priority level changes based on real-time classification of driver intervention. The control system dynamically adjusts between autonomous-priority mode and driver-priority mode, allowing the vehicle to maintain stability during normal autonomous operation while conveniently responding to genuine driver intentions.
3Reliability
If the vehicle prioritizes autonomous instructions over driver operations, then travel stability is improved, but convenience is degraded
Solution Approach 1:
The system changes the control parameter (priority level) based on the classified type of driver intervention. For categorized interventions indicating genuine driver intent (such as large torque or sustained duration), the system shifts priority to the driver, improving convenience while maintaining travel stability through the classification framework.
Data Source
AI summary
A vehicle includes a vehicle platform configured to receive an instruction from an autonomous driving kit. The vehicle platform includes a steering wheel to be operated by a driver of the vehicle, a steering motor configured to generate torque for varying an angle of a front wheel of the vehicle, and a first control device configured to control the steering motor. The vehicle platform is configured to receive a front wheel steering angle instruction value requested by the autonomous driving kit during autonomous driving of the vehicle. The first control device is configured to classify driver intervention to the steering wheel into one of a plurality of categories, and control torque of the steering motor in consideration of the steering intention of the driver when a driver operation on the steering wheel is caused, during autonomous driving of the vehicle.