Steering Actuator Torque Control for Automated Driving Mode Transition
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Solution Overview
Problem
Sudden exit from automated driving mode during cornering can cause impairments in steering feel due to a sudden, steep rise in manual torque perceptible on the steering control, as existing systems fail to smoothly transition from automated to manual control when a steering sensor error occurs.
Innovation Solution
The method involves determining the wheel steering angle characteristic parameter and using it to adjust the supporting torque provided by the steering actuator, delaying the transition to manual driving mode until the wheel steering angle is below a predefined limit, thereby reducing the manual torque felt by the driver and ensuring a smoother transition.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the automated driving operating mode is exited immediately upon detecting a steering sensor error, then the safety and reliability of the system are improved, but the steering feel deteriorates due to a sudden, steep rise in manual torque
Solution Approach 1:
The system determines wheel steering angle characteristic parameters in advance before exiting automated driving mode, and uses this information to prepare a smooth transition by gradually adjusting the supporting torque rather than an immediate abrupt change
Solution Approach 2:
The supporting torque provided by the steering actuator is dynamically adjusted based on the wheel steering angle characteristic parameter, allowing the torque to change smoothly over time rather than remaining static or changing abruptly during the mode transition
2Ease of operation
If the supporting torque is adjusted based on wheel steering angle characteristic parameter, then the steering feel is improved, but the device complexity increases due to additional control parameters and processing
Solution Approach 1:
The computing unit that already exists for automated driving control is extended to also determine wheel steering angle characteristic parameters and control the supporting torque adjustment, making the existing system perform multiple functions without adding separate dedicated hardware systems
Solution Approach 2:
The wheel steering angle characteristic parameter serves as an intermediary variable that links the automated driving control system with the manual steering support system, enabling smooth torque adjustment without requiring direct complex interaction between multiple control systems
Data Source
AI summary
A method is for operating a vehicle. The vehicle includes a steering system with at least one steering handle and at least one steering sensor operatively connected to the steering handle and configured to at least detect a driver intervention in an automated drive operating mode. In at least one faulty operating state, in which the vehicle is in the automated drive operating mode and a malfunction and/or a disturbance of the steering sensor is ascertained and/or a steering sensor signal of the steering sensor is ascertained, the steering sensor signal correlating in particular to the driver intervention, an interruption process is initiated in order to discontinue the automated drive operating mode. During the interruption process, at least one wheel steering angle characteristic variable of at least one vehicle wheel of the vehicle is ascertained and taken into consideration while discontinuing the automated drive operating mode.