Travel Controller Ramp-Up Logic for Safe Manual Takeover
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Solution Overview
Problem
When transitioning from autonomous driving to manual driving, vehicles may experience unstable running states due to excessive operation of the accelerator pedal, leading to potential sudden acceleration and compromised safety, even with a low manual control ratio.
Innovation Solution
A travel controller that detects driver operations and limits the vehicle's acceleration rate to a predetermined upper limit, increasing this limit over time as the driver engages with steering and accelerator inputs, while also considering lane changes and gaze direction to adjust the acceleration rate accordingly.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the control ratio of manual driving is kept low during transition from autonomous to manual driving, then the autonomous control maintains stability, but the final control value may become excessively high when the operation acceptor is operated, causing sudden acceleration and safety issues
Solution Approach 1:
The patent applies dynamics by making the upper limit of acceleration rate changeable over time. The system dynamically adjusts the acceleration rate limit based on elapsed time during the transition phase, starting with a restrictive limit that gradually increases. This temporal dynamics allows the system to maintain safety initially while progressively enabling more aggressive acceleration as the driver becomes more engaged, preventing sudden acceleration while ensuring smooth transition to manual control.
2Ease of operation
If the travel controller gives precedence to the control amount based on driver operation during autonomous driving, then the driver's intent is respected, but the acceleration rate may become excessively high and cause unstable running state
Solution Approach 1:
The patent applies parameter changes by modifying the acceleration rate limit parameter based on elapsed time. The system changes the upper bound parameter of acceleration from a restrictive initial value to a more permissive final value as time progresses during the transition phase. This parameter evolution allows the system to balance driver intent recognition with running state stability, gradually transitioning from conservative to responsive acceleration control.
3Reliability
If the upper limit of acceleration rate is kept low during transition, then sudden acceleration is prevented, but the vehicle response to driver operation becomes sluggish and natural
Solution Approach 1:
The patent applies periodic action through time-based阶段性 control. The acceleration rate limit is adjusted in temporal stages during the transition phase, with different limit levels applied at different time intervals. This staged, time-dependent approach allows the system to maintain safety in early stages while progressively improving response speed in later stages, creating a natural transition that balances safety and responsiveness.
Data Source
AI summary
A travel controller, during autonomous driving in which acceleration and deceleration of a vehicle are automatically controlled, when an operation by a driver of the vehicle for accelerating the vehicle and a grip by the driver on a steering wheel accepting operations by the driver designating a steering direction and a steering amount of the vehicle are detected, control an acceleration rate of the vehicle by accelerating the vehicle in accordance with the operation for accelerating the vehicle with limiting the acceleration rate of the vehicle not more than a predetermined upper limit of acceleration rate, and increasing the upper limit of acceleration rate in accordance with an elapse of time from detection of the operation for accelerating the vehicle and the grip on the steering wheel.