Steering Wheel Torque Control for Human-Like Obstacle Avoidance
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Solution Overview
Problem
Current assisted driving technologies trigger active safety functions close to collision moments, resulting in large vehicle deceleration or lateral acceleration, affecting driving experience and safety.
Innovation Solution
A control method that adjusts the steering wheel torque based on the driver's intent to mitigate collision risks, employing counter torques and phased interventions for obstacle avoidance, combining lateral and longitudinal controls to improve safety and experience.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If active safety function is triggered close to collision moment, then collision avoidance effectiveness is improved, but lateral acceleration becomes excessively large affecting driving experience and safety
Solution Approach 1:
The system performs preliminary risk assessment and triggers the active safety function earlier than conventional systems, before the collision moment approaches. By detecting potential collision risks in advance and initiating obstacle avoidance maneuvers proactively, the system achieves effective collision avoidance while maintaining manageable lateral acceleration levels throughout the maneuver.
2Reliability
If excessive torque is applied to steering wheel for obstacle avoidance, then obstacle avoidance capability is improved, but driving experience and passenger comfort deteriorate
Solution Approach 1:
The system dynamically adjusts the torque applied to the steering wheel based on real-time assessment of collision risk levels and vehicle state. Rather than applying fixed excessive torque, the control torque varies continuously to achieve effective obstacle avoidance while minimizing impact on driving experience and passenger comfort.
Solution Approach 2:
The system changes the torque parameter dynamically during the obstacle avoidance process. By adjusting torque magnitude based on risk assessment results and vehicle response, the system achieves effective avoidance capability while keeping torque levels within acceptable ranges for driver comfort and passenger experience.
Data Source
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AI summary
A control method and apparatus, and an intelligent driving device are provided. The method includes: determining a second torque based on at least a first torque of a steering wheel when there is a collision risk between an intelligent driving device and an obstacle, where the first torque is a torque applied by a user of the intelligent driving device to the steering wheel, a direction of the second torque is opposite to a direction of the first torque, and a value of the second torque minus a value of the first torque is greater than or equal to a first preset threshold; and controlling the steering wheel based on the first torque and the second torque. Technical solutions of this application may be applied to an intelligent driving device, for example, an electric vehicle or a new energy vehicle. When a collision risk is detected, a torque of a steering wheel may be controlled based on an action intent of a driver. This can make behavior of the intelligent driving device more human-like in an obstacle avoidance process, and can avoid a large lateral acceleration caused by an excessive torque applied when an obstacle avoidance function is triggered, to improve driving experience of a driver and riding experience of a passenger.