Vehicle Trajectory Teaching With Dynamic Steering Angle Limits
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Solution Overview
Problem
The existing methods for teaching and following vehicle trajectories in semi-autonomous driving systems often result in unnatural steering behavior for drivers due to artificially limited steering angles, which can restrict maneuverability and comfort.
Innovation Solution
A control unit dynamically adapts the steering angle limit based on the current driving situation, using environmental sensors, communication systems, and machine learning models to determine when additional steering angle reserves are needed, allowing for more natural steering behavior and improved trajectory following without unnecessary limitations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If the steering angle is limited during teaching mode to ensure sufficient steering angle reserves for autonomous following, then trajectory following precision is improved, but steering behavior becomes unnatural and driver comfort deteriorates
Solution Approach 1:
The patent applies dynamics by making the steering angle limit adjustable and situation-dependent rather than fixed. The control unit dynamically adapts the steering angle limit based on the current driving situation, allowing the system to transition between limited and unlimited steering modes as needed, thereby resolving the contradiction between precision and naturalness.
Solution Approach 2:
The patent changes the parameter of steering angle limit from a fixed value to a variable that can be adjusted based on driving conditions. By modifying this parameter dynamically, the system achieves both precise trajectory following when needed and natural steering behavior when conditions permit.
2Reliability
If the steering angle is limited during teaching mode, then control differences are compensated, but driver comfort and steering behavior are perceived as unnatural
Solution Approach 1:
The system dynamically adjusts the steering angle limit based on whether control difference compensation is actually needed. By making the limitation situational rather than constant, the system maintains reliability when necessary while preserving natural steering behavior when compensation is not required.
Solution Approach 2:
The control unit automatically determines when steering angle limitation is necessary based on the current driving situation, eliminating the need for manual intervention or fixed conservative limits. The system serves itself by intelligently deciding when to apply compensation measures.
3Reliability
If additional steering angle reserves are maintained during autonomous following, then control differences can be compensated, but maneuverability during teaching mode is unnecessarily restricted
Solution Approach 1:
The patent makes the steering angle reserve requirement dynamic rather than static. The system adapts the amount of steering angle reserve needed based on the specific driving situation and trajectory characteristics, allowing maximum maneuverability during teaching while ensuring sufficient reserves only when actually needed for autonomous following.
Solution Approach 2:
The system applies different steering angle reserve requirements to different sections of the trajectory based on local conditions. Rather than applying a uniform limitation throughout, the control unit adjusts reserves locally where control difference compensation is actually necessary.
Data Source
AI summary
The disclosure relates to a method for operating a motor vehicle, comprising operating the motor vehicle in a teaching mode in which a driver can drive along and thereby teach a trajectory; and operating the motor vehicle in a following mode in which the motor vehicle at least semi-autonomously follows the trajectory or an adapted variant thereof. In the teaching mode, a maximum adjustable steering angle can be limited, and this limitation of the steering angle can be variably specified depending on a driving situation.