System provided with an assistance-controller for assisting an operator of the system, control-operation assisting device, control-operation assisting method, driving-operation assisting device, and driving-operation assisting method

• US 8,521,367 B2
• Filed: 09/30/2008
• Issued: 08/27/2013
• Est. Priority Date: 09/30/2008
• Status: Expired due to Fees

• Current Assignee: Delft University Of Technology, Entropy Control Inc., Nissan Motor Co., Ltd.
• Original Assignee: Delft University Of Technology, Entropy Control Inc., Nissan Motor Co., Ltd.
• Inventors: Mulder, Mark, Abbink, David, Van Paassen, Rene, Mulder, Max, Van Der Helm, Frans, Boer, Erwin R., Takada, Yuji
• Primary Examiner(s): Chen, Shelley
• Application Number:
  US13/121,469
• Publication Number:
  US 20110238254A1
• Time in Patent Office: 1,792 Days
• Field of Search: 701/29
• US Class Current: 701/42
• CPC Class Codes: B60W 30/12 Lane keeping
• CPC Class Codes: B60W 40/02 related to ambient conditions
• CPC Class Codes: B60W 40/072 Curvature of the road
• CPC Class Codes: B62D 15/025 Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation B62D1/28 takes precedence
• CPC Class Codes: B62D 6/00 Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits means for initiating a change in direction B62D1/00; steering valves B62D5/06; combined with means for inclining the vehicle body or wheels on bends B62D9/00
• CPC Class Codes: B62D 6/002 computing target steering angles for front or rear wheels B62D7/159 takes precedence
• CPC Class Codes: G05D 1/0212 with means for defining a desired trajectory involving a plurality of land vehicles G05D1/0287

Abstract

A target-travel-path generating circuit calculates a target travel path along which the controlled object can travel in the future from the current controlled object position, an ideal-control-signal calculating circuit calculates a control profile Ŝ to travel along the target travel path P, and a difference calculating circuit calculates a difference δ between the ideal control magnitude Ŝ and a current control magnitude Ŝ. An operation system assistance controller controls the operation system based on the magnitude of the calculated difference δ to assist the control operation of the operator, the control-operation-state of the operator, the environment-state, and the required operation-precision. Accordingly, it is possible to provide the operator with control operation assistance that is a function of the magnitude of the difference δ from an ideal control state, the control-operation-state of the operator, the environment-state, and the required operation-precision, and thus, a control-operation assistance control can be outputted that is suitable for the conditions that characterize the state of the operator, the environment, and the controlled object.

Claims

1. A control-operation assisting device that assists control operation of an operator on a manipulator for control of a controlled object, comprising:

a controlled-object-state detection unit that detects information about the state of the controlled object;

a manipulator-state detection unit that detects information about the state of manipulator;

an environment-state detection unit that detects information about the state of control operation environment on the periphery of the controlled object;

an ideal-interaction generating unit that generates the ideal interaction dynamics between the controlled object and the environment from the information about the state of the controlled object detected by the controlled-object-state detection unit and the environmental state detected by the environment-state detection unit;

an ideal-manipulator-impedance generation unit that generates an ideal impedance for the manipulator from the ideal interaction dynamics between controlled object and the environment generated by the ideal-interaction generating unit;

a manipulator-impedance-controller assistance system that controls the impedance of the manipulator based on the ideal manipulator impedance generated by the ideal-manipulator-impedance generation unit to produce the desired interaction dynamics between the controlled object and the environment;

an ideal-manipulator-control-signal generating unit that generates an ideal-manipulator-control-signal from the ideal interaction dynamics between controlled object and the environment generated by the ideal-interaction generating unit;

a manipulator-control-signal-difference calculating unit that calculates the difference between the ideal-manipulator-control-signal generated by the ideal-manipulator-control-signal generating unit and the state of the manipulator detected by the manipulator-state detection unit;

an operation-precision estimation unit that estimates a precision required for the control operation of the controlled object from the ideal interaction dynamics between the controlled object and the environment generated by the ideal-interaction generating unit;

a control-difference-impedance generating unit that generates a control difference impedance from the required precision estimated by the operation-precision estimation unit;

an actuator-torque-controller-assistance system that controls the additional torque produced by an actuator based on the magnitude of the difference calculated by the manipulator-control-signal-difference calculating unit and the control difference impedance calculated by the control-difference-impedance generating unit to assist the control-operation of the operator on the manipulator to achieve the required operation precision.

2. The control-operation assisting device according to claim 1, comprising an ideal-control-path generating unit that generates an ideal control path for the controlled object from the information about the state of the controlled object detected by the controlled-object-state detection unit and the environmental state detected by the environment-state detection unit.

3. The control-operation assisting device according to claim 2, comprising an ideal-manipulator-control-signal generation unit that generates, as the ideal-manipulator-control-signal, a control signal profile to control the controlled object to travel along the ideal control path generated by the ideal-control-path generating unit.

4. The control-operation assisting device according to claim 3, comprising a control-signal prediction unit that predicts information about the control operation state up to a predetermined future time, based on the information about the state of the controlled object detected by the controlled-object-state detection unit, wherein the manipulator-control-signal-difference-calculating unit calculates the difference between the ideal-manipulator-control-signal, up to a predetermined future time, generated by the ideal-manipulator-control-signal generation unit and the information about the control operation state, up to a predetermined future time, predicted by the control-signal prediction unit.

5. The control-operation assisting device according to claim 3, wherein the ideal-manipulator-control-signal generating unit uses an operator model for calculating the ideal-manipulator-control-signal from the information about the state of the controlled object detected by the controlled-object-state detection unit and the information about the state of control operation environment detected by the environment-state detection unit.

6. The control-operation assisting device according to claim 1, wherein the controlled-object-state detection unit detects, as the information about the state of the controlled object, at least one of the orientation of the controlled object, the speed thereof, the advancing direction angle thereof, the acceleration thereof, and the manipulator value thereof.

7. The control-operation assisting device according to claim 1, wherein the environment-state detection unit detects, as the information about the state of control operation environment, at least one of:

obstacles present on a periphery of the controlled object;

a curve-linear barrier, a width, a roughness along the path along which the controlled object travels; and

moving bodies adjacent to the control led object.

8. The control-operation assisting device according to claim 1, wherein the actuator-torque-controller-assistance system adapts the force output rule of the controlled object to control the controlled object and controls the level of force added to the control operation on the manipulator of the operator, written as the force output rule, to control the assistance level of the control operation.

9. The control-operation assisting device according to claim 8, wherein the actuator-torque-controller-assistance system adapts the force output rule of the controlled object to control the controlled object, written as the force output rule, to control the assistance level of the control operation.

10. The control-operation assisting device according to claim 8, wherein the actuator-torque-controller-assistance system controls the level of force added to the control operation on the manipulator of the operator to control the assistance level of the control operation.

11. The control-operation assisting device according to claim 1, comprising a control-operation-load estimating unit that estimates the control-operation load of the operator, wherein the actuator-torque-controller-assistance system increases the assistance level of the control operation as the control-operation load estimated by the control-operation-load estimating unit becomes larger.

12. The control-operation assisting device according to claim 8, wherein the force output rule is a torque output rule of the actuator.

13. The control-operation assisting device according to claim 12, wherein the actuator-torque-controller-assistance system changes the torque output rule according to the control difference impedance generated by the control-difference-impedance generating unit.

14. The control-operation assisting device according to claim 1, comprising:

a movable-region calculating unit that calculates a width of the region in which the controlled object can move, from the information about the state of control operation environment detected by the environment-state detection unit; and

an approximate-control-region calculating unit that approximates the movable region calculated by the movable-region calculating unit by a plurality of curved regions and straight regions, wherein

when the environment-state detection unit detects an obstacle on the periphery of the controlled object, the ideal-interaction generating unit generates an ideal interaction path within the region approximated by the approximate-control-region calculating unit.

15. The control-operation assisting device according to claim 1, comprising a control-operation-technique estimating unit that estimates a control-operation technique of the operator, wherein the actuator-torque-controller-assistance system increases the control level of the control operation as the control operation technique of the operator estimated by the control-operation-technique estimating unit becomes smaller.

16. The control-operation assisting device according to claim 14, comprising a control condition determining unit that determines control condition at a time of the control operation and/or a time-zone determining unit that determines the time zone at a time of the control operation, wherein when the control condition determined by the control condition determining unit is bad and/or when the time zone determined by the time-zone determining unit is nighttime, the ideal-interaction generating unit adapts the generated ideal control path and the actuator-torque-controller-assistance system increases the assistance level of the control operation.

17. The control-operation assisting device according to claim 14, comprising a degraded-operation detection unit that detects degraded operation of the operator, wherein when the degraded operation of the operator is detected by the degraded-operation detection unit, the ideal-interaction generating unit corrects the generated ideal control path, and the actuator-torque-controller-assistance system increases the assistance level of the control operation.

18. The control-operation assisting device according to claim 1, wherein the actuator-torque-controller-assistance system increases the assistance level of the control operation as the number of moving bodies, adjacent to the controlled object, detected by the environment-state detection unit becomes larger.

19. The control-operation assisting device according to claim 1, wherein the controlled object is a vehicle, the device comprises a lane-change-intention estimating unit that estimates a lane change intention of the operator;

and a first steering-angle profile storage unit that stores information about a chronological change of a steering angle of a vehicle detected by the controlled-object-state detection unit at the time of past lane changes, and when the lane change intention of the operator is estimated by the lane-change-intention estimating unit, the ideal-manipulator-control-signal generating unit references the information about the chronological change of the steering angle of the vehicle, stored in the first steering-angle profile storage unit, to generate a steering profile of the vehicle at a time of the past lane change, as the ideal-manipulator-control-signal.

20. The control-operation assisting device according to claim 19, comprising:

a merging-intention estimating unit that estimates the merging intention of the operator; and

a second steering-angle profile storage unit that stores information about the chronological changes of a steering angle detected by the controlled-object-state detection unit at the time of past merging, wherein

when the merging intention of the operator is estimated by the merging-intention estimating unit, the ideal-manipulator-control-signal generating unit references the information about the chronological change of the steering angle of the vehicle, stored in the second steering-angle profile storage unit, to generate a steering profile of the vehicle at the time of past merging, as the ideal-manipulator-control-signal, and when the environment-state detection unit detects a predetermined number or more of vehicles traveling on a merged lane the actuator-torque-controller-assistance system increases the assistance level of the control operation.