Intelligent pedal lane change assist
A reactive pedal algorithm is used to modify an accelerator pedal output (APO)-to-torque conversion to produce more deceleration for the same accelerator pedal position. Modifying the APO-to-torque conversion provides the driver of a vehicle the sensation that the vehicle is resisting approaching closer to a lead vehicle. The APO-to-torque conversion is modified based on a scene determination to classify vehicles as in-lane, neighbor-lane, or on-coming. Lane change assist methods and systems are used to modify the APO-to-torque conversion range based on a lead vehicle, a neighbor vehicle, or both.
1. A method for use in a host vehicle, the method comprising:
determining a lead vehicle based on a proximate distance between the host vehicle and a lead vehicle candidate;
determining a region of interest by a longitudinal distance based on a speed of the host vehicle, a steering angle of the host vehicle, a yaw rate of the host vehicle, and a first lateral distance based on a width of the lead vehicle, wherein the region of interest is a potential area of travel of the host vehicle;
detecting a turn indicator of the host vehicle;
increasing the region of interest by a second lateral distance in response to the detection of the turn indicator, wherein the increased region of interest includes a neighbor vehicle, and wherein the second lateral distance is based on a width of the neighbor vehicle;
computing a feedback force based on a deceleration estimate of the lead vehicle and a deceleration estimate of the neighbor vehicle; and
adjusting an accelerator pedal output (APO)-to-torque conversion based on the computed feedback force.
2. The method of claim 1 , wherein the feedback force is computed based on a minimum function of the deceleration estimate of the lead vehicle and the deceleration estimate of the neighbor vehicle.
3. The method of claim 1 , wherein the increased region of interest is based on a speed of the host vehicle and a yaw rate of the host vehicle.
4. The method of claim 1 , wherein the deceleration estimate of the lead vehicle is a dynamic estimate that is based on a function of a relative distance of the lead vehicle, a relative speed of the lead vehicle, and a relative acceleration of the lead vehicle.
5. The method of claim 1 , wherein the deceleration estimate of the neighbor vehicle is a dynamic estimate that is based on a function of a relative distance of the neighbor vehicle, a relative speed of the neighbor vehicle, and a relative acceleration of the neighbor vehicle.
6. The method of claim 1 , wherein increasing the region of interest is based on a detected speed of the host vehicle and a steering angle of the host vehicle.
7. The method of claim 1 , wherein increasing the region of interest is based on a detected speed of the neighbor vehicle and a steering angle of the host vehicle.
8. The method of claim 1 , wherein the APO-to-torque conversion is adjusted based on one or more accelerator maps.
9. The method of claim 8 , wherein the one or more accelerator maps include a normal mode accelerator map, a regenerative mode accelerator map, and a comfort mode accelerator map.
10. The method of claim 1 , wherein the first lateral distance is based on a width of a lane in which the lead vehicle is traveling, and the second lateral distance is based on a width of a lane in which the neighbor vehicle is traveling.
11. A host vehicle comprising:
a sensor configured to detect a proximate distance of an object from the host vehicle;
a processor configured to:
determine that the object is a lead vehicle based on the proximate distance between the host vehicle and the object;
determine a region of interest by a longitudinal distance based on a speed of the host vehicle, a steering angle of the host vehicle, a yaw rate of the host vehicle, and a first lateral distance associated with a width of the lead vehicle, wherein the region of interest is a potential area of travel of the host vehicle;
detect a tum indicator of the host vehicle;
increase the region of interest by a second lateral distance in response to the detection of the turn indicator, wherein the increased region of interest includes a neighbor vehicle;
compute a feedback force based on a deceleration estimate of the lead vehicle and a deceleration estimate of the neighbor vehicle; and
adjust an accelerator pedal output (APO)-to-torque conversion based on the computed feedback force.
12. The host vehicle of claim 11 , wherein the processor is configured to compute the feedback force based on a minimum function of the deceleration estimate of the lead vehicle and the deceleration estimate of the neighbor vehicle.
13. The host vehicle of claim 11 , wherein the increased region of interest is based on a speed of the host vehicle and a yaw rate of the host vehicle.
14. The host vehicle of claim 11 , wherein the deceleration estimate of the lead vehicle is a dynamic estimate that is based on a function of a relative distance of the lead vehicle, a relative speed of the lead vehicle, and a relative acceleration of the lead vehicle.
15. The host vehicle of claim 11 , wherein the deceleration estimate of the neighbor vehicle is a dynamic estimate that is based on a function of a relative distance of the neighbor vehicle, a relative speed of the neighbor vehicle, and a relative acceleration of the neighbor vehicle.
16. The host vehicle of claim 11 , wherein the processor is configured to increase the region of interest based on a detected speed of the host vehicle and a steering angle of the host vehicle.
17. The host vehicle of claim 11 , wherein the processor is configured to increase the region of interest based on a detected speed of the host vehicle and a steering angle of the host vehicle.
18. The host vehicle of claim 11 , wherein the processor is configured to adjust the APO-to-torque conversion based on one or more accelerator maps.
19. The host vehicle of claim 18 , wherein the one or more accelerator maps include a normal mode accelerator map, a regenerative mode accelerator map, and a comfort mode accelerator map.
20. The host vehicle of claim 11 , wherein the processor is configured to determine the first lateral distance based on a width of a lane in which the lead vehicle is traveling, and determine the second lateral distance based on a width of a lane in which the neighbor vehicle is traveling.