Apparatus and method for driver activity dependent ADAS wheel angle controller

• US 10,625,780 B2
• Filed: 02/05/2018
• Issued: 04/21/2020
• Est. Priority Date: 03/20/2017
• Status: Active Grant

• Current Assignee: Volvo Car Corporation (AB Volvo)
• Original Assignee: Volvo Car Corporation (AB Volvo)
• Inventors: Mardh, Lars Johannesson, Haglund, Malin
• Primary Examiner(s): Lee, Tyler J
• Application Number:
  US15/888,879
• Publication Number:
  US 20180265128A1
• Time in Patent Office: 806 Days
• CPC Class Codes: B62D 1/286 Systems for interrupting non-mechanical steering due to driver intervention
• 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 6/007 adjustable by the driver, e.g. sport mode

Abstract

A steer torque manager for an advanced driver assistance system of a road vehicle and a method therefor. The steer torque manager includes a driver in the loop functionality for determining when to hand over control to a driver, and a wheel angle controller for providing, from an advanced driver assistance system wheel angle request, an overlay torque request to be added to a torque request from an electrical power assisted steering. The steer torque manager is configured to receive an assistance torque related signal and arranged to scale, in a scaling functionality the bandwidth of the wheel angle controller based on a measure of driver activity, such that the bandwidth is reduced if the measure of driver activity indicates high driver activity and increased if the measure of driver activity indicates low driver activity.

Claims

1. A steer torque manager for an advanced driver assistance system of a road vehicle having an electrical power assisted steering functionality, the steer torque manager comprising:

a driver-in-the-loop functionality for determining when and how to hand over control from the advanced driver assistance system to a driver; and

a wheel angle controller for providing, from an advanced driver assistance system wheel angle request, an overlay torque request to be added to a torque request from the electrical power assisted steering functionality;

wherein the steer torque manager is configured to receive an assistance torque related signal, and wherein the steer torque manager is further configured to scale, in a scaling functionality, a bandwidth of the wheel angle controller based on a measure of driver activity wherein the bandwidth is reduced in response to the measure of driver activity indicating high driver activity, and wherein the bandwidth is increased in response to the measure of driver activity indicating low driver activity that is lower than the high driver activity;

wherein the assistance torque related signal is provided as a vehicle traveling velocity dependent amplification of a steering wheel torsion bar torque.

2. The steer torque manager of claim 1 wherein the steer torque manager is further configured to use as the measure of driver activity a driver in the loop factor indicating driver activity from an inactive driver to a fully active driver.

3. The steer torque manager of claim 2 wherein the steer torque manager is further configured to calculate the driver in the loop factor as a normalized version of a driver in the loop impulse, which the steer torque manager is configured to calculate as a measure of driver activity over a time window where more recent values are weighted higher than older values, wherein the driver in the loop factor spans between indicating an inactive driver and a fully active driver.

4. The steer torque manager of claim 2 wherein the driver in the loop factor is arranged to span from 1 to 0 where 1 indicates an inactive driver and 0 indicates a fully active driver for whom the overlay torque request from an advanced driver assist functionality should be faded out and control handed over from an advanced driver assistance system to a driver.

5. The steer torque manager of claim 2 wherein the driver in the loop factor is rate limited.

6. The steer torque manager of claim 1 wherein the wheel angle controller comprises integral action in order to eliminate offset in the overlay torque request based on wheel angle and wheel angle rate data and the scaling functionality is arranged to scale the bandwidth of the wheel angle controller through scaling gains of wheel angle and wheel angle rate data in the wheel angle controller based on the measure of driver activity and a vehicle traveling velocity signal.

7. The steer torque manager of claim 6 wherein the wheel angle controller comprises an outer wheel angle control loop and an inner wheel angle rate control loop and the scaling functionality is arranged to scale the bandwidth of the outer wheel angle control loop using a first scale table and the bandwidth of the inner wheel angle rate control loop using a second scale table, and based on the measure of driver activity and a vehicle traveling velocity signal.

8. The steer torque manager of claim 7 wherein the first scale table is used to generate a first scale factor to scale the bandwidth of the outer wheel angle control loop proportionately to an immediate control error thereof and the second scale table is used to generate a second scale factor to scale the bandwidth of the inner wheel angle rate control loop to an integrated control error thereof over time.

9. A power steering control module comprising a steer torque manager according to claim 1.

10. An advanced driver assistance system comprising a steer torque manager according to claim 1.

11. A road vehicle comprising an advanced driver assistance system according to claim 10.

14. The steer torque manager of claim 1 wherein the assistance torque related signal is provided as a vehicle traveling velocity dependent amplification of a steering wheel torsion bar torque.

15. The steer torque manager of claim 1 wherein the steer torque manager is further configured to use as the measure of driver activity a driver in the loop factor indicating driver activity from an inactive driver to a fully active driver.

16. The steer torque manager of claim 15 wherein the steer torque manager is further configured to calculate the driver in the loop factor as a normalized version of a driver in the loop impulse, which the steer torque manager is configured to calculate as a measure of driver activity over a time window where more recent values are weighted higher than older values, wherein the driver in the loop factor spans between indicating an inactive driver and a fully active driver.

17. The steer torque manager of claim 15 wherein the driver in the loop factor is arranged to span from 1 to 0 where 1 indicates an inactive driver and 0 indicates a fully active driver for whom the overlay torque request from an advanced driver assist functionality should be faded out and control handed over from an advanced driver assistance system to a driver.

18. The steer torque manager of claim 15 wherein the driver in the loop factor is rate limited.

12. A method performed by a steer torque manager for an advanced driver assistance system of a road vehicle having an electrical power assisted steering functionality, the steer torque manager comprising a driver-in-the-loop functionality for determining when and how to hand over control from the advanced driver assistance system to a driver, a wheel angle controller for providing, from an advanced driver assistance system wheel angle request, an overlay torque request to be added to a torque request from the electrical power assisted steering functionality, the steer torque manager configured to receive an assistance torque related signal, the method comprising:

scaling a bandwidth of the wheel angle controller based on a measure of driver activity wherein the bandwidth is reduced in response to the measure of driver activity indicating high driver activity, and wherein the bandwidth is increased in response to the measure of driver activity indicating low driver activity that is lower than the high driver activity, wherein the assistance torque related signal is provided as a vehicle traveling velocity dependent amplification of a steering wheel torsion bar torque.

13. A steer torque manager for an advanced driver assistance system of a road vehicle having an electrical power assisted steering functionality, the steer torque manager comprising:

a driver-in-the-loop functionality for determining when and how to hand over control from the advanced driver assistance system to a driver; and

a wheel angle controller for providing, from an advanced driver assistance system wheel angle request, an overlay torque request to be added to a torque request from the electrical power assisted steering functionality;

wherein the steer torque manager is configured to receive an assistance torque related signal, and wherein the steer torque manager is further configured to scale, in a scaling functionality, a bandwidth of the wheel angle controller based on a measure of driver activity wherein the bandwidth is reduced in response to the measure of driver activity indicating a first driver activity, and wherein the bandwidth is increased in response to the measure of driver activity indicating second driver activity that is less than the first driver activity, wherein the assistance torque related signal is provided as a vehicle traveling velocity dependent amplification of a steering wheel torsion bar torque.

19. The steer torque manager of claim 13 wherein the wheel angle controller comprises integral action in order to eliminate offset in the overlay torque request based on wheel angle and wheel angle rate data and the scaling functionality is arranged to scale the bandwidth of the wheel angle controller through scaling gains of wheel angle and wheel angle rate data in the wheel angle controller based on the measure of driver activity and a vehicle traveling velocity signal.