Torques for application of automated steering of vehicles
Some examples of the techniques described herein may include a feature where a torque of a steering wheel provides a seamless transition from automated driving to manual steering. For example, automated driving may remain active while the driver interacts with the steering wheel and may take control when the driver releases the steering wheel. The torque of the steering wheel may feel similar to the supportive torque of power steering, including an additional torque weight to indicate that automated driving is still active. Thus, a smooth transition between automated driving and manual driving may be provided. In some approaches, an automated steering controller may impart a torque on the steering wheel that is modeled as a combination of a characteristic power steering supportive torque, a second torque that may vary based on vehicle speed, or a third torque that may vary based on a degree of steering.
1 . An apparatus, comprising:
one or more memory; and
one or more processors electronically coupled to the one or more memory, the one or more processors configured to:
determine a first torque from characteristic power steering data based at least in part on an input torque to a steering wheel of a vehicle and a speed of the vehicle;
determine a second torque based at least in part on a mapping that varies with vehicle speed;
determine a steering torque based at least in part on a combination of the first torque from the characteristic power steering data and the second torque; and
apply the steering torque to a steering structure of the vehicle during a period in which automated steering is active, wherein the steering torque that is based at least in part on the second torque indicates that the automated steering is active.
2 . The apparatus of claim 1 , wherein the one or more processors are further configured to:
determine a third torque based at least in part on a mapping that varies with a degree of steering, wherein the combination for determining the steering torque further includes the third torque.
3 . The apparatus of claim 2 , wherein the one or more processors are further configured to:
obtain an input via an input device for adjusting the mapping that varies with vehicle speed, the mapping that varies with the degree of steering, or the combination for determining the steering torque; and
adjust the mapping that varies with vehicle speed, the mapping that varies with the degree of steering, or the combination based at least in part on the input.
4 . The apparatus of claim 3 , wherein the input is a speech signal, and wherein the one or more processors are further configured to:
execute an artificial intelligence or machine learning (AI/ML) model based at least in part on the speech signal to determine an adjustment to the mapping that varies with vehicle speed, to the mapping that varies with the degree of steering, or to the combination.
5 . The apparatus of claim 2 , wherein the one or more processors are further configured to:
obtain information from a device that is external to the vehicle; and
adjust the second torque, the third torque, or the steering torque based at least in part on the information.
6 . The apparatus of claim 5 , wherein the information is obtained from a second vehicle that is spatially ahead of the vehicle, the information indicating a driver interaction with the second vehicle, and wherein, to adjust the second torque, the third torque, or the steering torque, the one or more processors are configured to reduce the second torque, the third torque, or the steering torque to reduce an automated steering deactivation threshold.
7 . The apparatus of claim 5 , wherein the information is received from a second vehicle that is spatially ahead of the vehicle, the information indicative of an emergency maneuver, and wherein, to adjust the second torque, the third torque, or the steering torque, the one or more processors are configured to increase the second torque, the third torque, or the steering torque to increase an automated steering deactivation threshold.
8 . The apparatus of claim 1 , wherein the one or more processors are further configured to:
detect the input torque; and
determine whether to deactivate the automated steering based at least in part on the input torque and the combination of the second torque and the first torque.
9 . The apparatus of claim 8 , wherein determining whether to deactivate the automated steering comprises determining whether the input torque meets or exceeds an automated steering deactivation threshold that is based at least in part on the combination of the second torque and the first torque.
10 . The apparatus of claim 8 , wherein the one or more processors are further configured to:
transition from the steering torque for the automated steering to the first torque for manual steering over a time duration based at least in part on a determination to deactivate the automated steering.
11 . A method, comprising:
determining a first torque from characteristic power steering data based at least in part on an input torque to a steering wheel of a vehicle and a speed of the vehicle;
determining a second torque based at least in part on a mapping that varies with vehicle speed;
determining a steering torque based at least in part on a combination of the first torque from the characteristic power steering data and the second torque; and
applying the steering torque to a steering structure of the vehicle during a period in which automated steering is active, wherein the steering torque that is based at least in part on the second torque indicates that the automated steering is active.
12 . The method of claim 11 , further comprising:
detecting the input torque; and
determining whether to deactivate the automated steering based at least in part on the input torque and the combination of the second torque and the first torque.
13 . The method of claim 11 , further comprising:
adjusting, based at least in part on an input or a driving variability associated with an operator, the first torque, the second torque, the mapping that varies with vehicle speed, a mapping that varies with a degree of steering, a third torque that is based at least in part on a mapping that varies with a degree of steering, the steering torque, or a combination thereof.
14 . The method of claim 11 , further comprising:
comparing a current advanced driver assistance system (ADAS) level to a previous ADAS level; and
adjusting the first torque, the second torque, or the steering torque based at least in part on a change in the current ADAS level from the previous ADAS level.
15 . The method of claim 11 , further comprising:
determining that the input torque is less than the combination of the first torque and the second torque; and
transitioning from the input torque to the steering torque over a time duration in response to the determination that the input torque is less than the combination of the first torque and the second torque, wherein the input torque is less than the combination without a hand of an operator on the steering wheel.
16 . The method of claim 11 , wherein the combination further comprises an interaction torque, and wherein the method further comprises:
increasing the interaction torque in response to a determination that a pinion angle rate is greater than a rate threshold and that a driver interaction quantity is less than an interaction threshold during the period in which the automated steering is active.
17 . The method of claim 11 , wherein the combination further comprises an interaction torque that is higher for steering towards a center of a lane than for steering away from the center of the lane during the period in which the automated steering is active.
18 . The method of claim 11 , wherein the combination further comprises an interaction torque that is increased during an automated evasive maneuver and during the period in which the automated steering is active.
19 . The method of claim 11 , wherein the combination further comprises an interaction torque that is higher for steering into a curve of a path on which the vehicle is traveling than for steering out of the curve of the path.
20 . An apparatus, comprising:
means for determining a first torque from characteristic power steering data based at least in part on an input torque to a steering wheel of a vehicle and a speed of the vehicle;
means for determining a second torque based at least in part on a mapping that varies with vehicle speed;
means for determining a steering torque based at least in part on a combination of the first torque from the characteristic power steering data and the second torque; and
means for applying the steering torque to a steering structure of the vehicle during a period in which automated steering is active, wherein the steering torque that is based at least in part on the second torque indicates that the automated steering is active.