Vehicle Torque Control During ADS Instability and Driver Takeover
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Solution Overview
Problem
In adverse weather conditions, vehicle sensors struggle to match driving or braking torque with road conditions, leading to activation of antilock brake systems (ABS) or traction control systems (TCS), causing automatic driving systems (ADS) to switch to manual mode, which can result in accidents if the driver does not take over in time.
Innovation Solution
A vehicle control method that determines a second torque change rate based on a first torque change rate when the vehicle enters an unstable state, periodically calculates torque using this rate, and adjusts vehicle control until it exits the automatic driving mode, ensuring torque is maintained to provide the driver with sufficient time to take over.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If the vehicle uses a high torque change rate to respond quickly to road condition changes, then the response speed improves, but the ABS or TCS system activates prematurely causing the ADS to exit
Solution Approach 1:
The system dynamically adjusts the torque change rate based on vehicle state. When the vehicle is in a stable state, a higher torque change rate is used for quick response. When the vehicle enters an unstable state (ABS/TCS activation risk), the torque change rate is reduced to prevent premature ADS exit. This dynamic adjustment resolves the contradiction between fast response and system reliability.
Solution Approach 2:
The patent changes the torque change rate parameter according to vehicle stability conditions. By monitoring vehicle state and adjusting the torque change rate parameter accordingly, the system achieves both fast response when safe and prevents ABS/TCS activation when unstable, thereby maintaining ADS continuous operation.
2Reliability
If the vehicle delays ABS or TCS activation to maintain ADS operation, then the ADS continuity improves, but the torque adjustment becomes slower
Solution Approach 1:
The system implements dynamic torque change rate adjustment based on real-time vehicle stability assessment. When the vehicle is stable, torque adjustments are made quickly. When instability is detected, the torque change rate is slowed to prevent ABS/TCS activation. This dynamic approach maintains ADS continuity while optimizing torque adjustment speed according to conditions.
Solution Approach 2:
The system performs preliminary assessment of vehicle stability before making torque adjustments. By predicting potential ABS/TCS activation risks in advance, the system can proactively adjust the torque change rate to prevent premature ADS exit, thereby maintaining continuity while managing adjustment speed.
3Reliability
If the vehicle provides torque continuously after ADS exit to prevent accidents, then the safety improves, but the driver takeover time requirement increases
Solution Approach 1:
The system performs preliminary action by delaying ABS/TCS activation through reduced torque change rate, which prevents premature ADS exit. This keeps the ADS operational longer, providing continuous torque control and giving the driver more time to prepare for takeover, thereby improving safety without creating urgency.
Solution Approach 2:
The system provides beforehand cushioning by maintaining torque control through delayed ADS exit. This creates a buffer period where the ADS continues to provide controlled torque, cushioning against the risk of accidents that might occur if the ADS exited prematurely and the driver hadn't taken over yet.
Data Source
AI summary
A vehicle control method includes responding to a case in which a vehicle in an automatic driving mode enters an unstable state by determining a second torque change rate based on a first torque change rate obtained when the vehicle enters the unstable state, where the second torque change rate is less than the first torque change rate, and periodically calculating torque of the vehicle based on the second torque change rate using torque obtained when the vehicle enters the unstable state as an initial value, controlling the vehicle by using the calculated torque of the vehicle until the vehicle exits the automatic driving mode, and controlling the vehicle based on torque obtained when the vehicle exits the automatic driving mode.