System and method for proactive lane assist
A proactive pedal algorithm is used to modify an accelerator pedal map to ensure the deceleration when the accelerator pedal is released matches driver expectation. Modifying the accelerator pedal map provides the driver of a vehicle the sensation that the vehicle resists moving when travelling in dense scenes with potentially high deceleration requirements and coasts easily in scenes with low deceleration requirements. The accelerator pedal map is modified based on a scene determination to classify other remote vehicles as in-lane, neighbor-lane, or on-coming.
1. A method for use in a host vehicle, the method comprising:
obtaining sensor data to determine a scene associated with an operational environment of the host vehicle;
computing a deceleration estimate based on the scene;
computing a feedback force based on the deceleration estimate; and
adjusting an accelerator pedal output (APO)-to-torque conversion based on the computed feedback force, wherein the APO-to-torque conversion is adjusted at a rate based on the scene.
2. The method of claim 1 , wherein the rate is a first rate when the scene is detected and a second rate when a change in the scene is detected.
3. The method of claim 2 , wherein the first rate is greater than the second rate.
4. The method of claim 3 , wherein the first rate is six times greater than the second rate.
5. The method of claim 1 , wherein the deceleration estimate is a road deceleration estimate associated with a road attribute, wherein the road deceleration estimate is based on a function of a current speed of the host vehicle, a target speed of the host vehicle at a location of the road attribute, and a distance to the location of the road attribute.
6. The method of claim 5 , wherein the road attribute is an incline, a decline, a curve, or a stop line.
7. The method of claim 1 , wherein the deceleration estimate is a lead vehicle deceleration estimate based on a function of a current speed of the host vehicle, a target speed of the host vehicle, and a time to reach the target speed.
8. The method of claim 7 , wherein the target speed of the host vehicle matches a current speed of the lead vehicle.
9. The method of claim 1 , wherein the deceleration estimate is a static object deceleration estimate associated with a static object, wherein the static object deceleration estimate is based on a function of a current speed of the host vehicle and a distance to the static object.
10. The method of claim 1 , wherein the deceleration estimate is a dynamic lead vehicle deceleration estimate based on a function of a relative distance of a lead vehicle, a relative speed of the lead vehicle, and a relative acceleration of the lead vehicle.
11. A host vehicle comprising:
a sensor configured to obtain data from an operational environment of the host vehicle;
a processor configured to:
determine a scene based on the obtained data;
compute a deceleration estimate based on the scene;
compute a feedback force based on the deceleration estimate; and
adjust an accelerator pedal output (APO)-to-torque conversion based on the computed feedback force, wherein the APO-to-torque conversion is adjusted at a rate based on the scene.
12. The host vehicle of claim 11 , wherein the rate is a first rate when the scene is determined and a second rate when a change in the scene is determined.
13. The host vehicle of claim 12 , wherein the first rate is greater than the second rate.
14. The host vehicle of claim 13 , wherein the first rate is six times greater than the second rate.
15. The host vehicle of claim 11 , wherein the deceleration estimate is a road deceleration estimate associated with a road attribute, wherein the road deceleration estimate is based on a function of a current speed of the host vehicle, a target speed of the host vehicle at a location of the road attribute, and a distance to the location of the road attribute.
16. The host vehicle of claim 15 , wherein the road attribute is an incline, a decline, a curve, or a stop line.
17. The host vehicle of claim 11 , wherein the deceleration estimate is a lead vehicle deceleration estimate based on a function of a current speed of the host vehicle, a target speed of the host vehicle, and a time to reach the target speed.
18. The host vehicle of claim 17 , wherein the target speed of the host vehicle matches a current speed of the lead vehicle.
19. The host vehicle of claim 11 , wherein the deceleration estimate is a static object deceleration estimate associated with a static object, wherein the static object deceleration estimate is based on a function of a current speed of the host vehicle and a distance to the static object.
20. The host vehicle of claim 11 , wherein the deceleration estimate is a dynamic lead vehicle deceleration estimate based on a function of a relative distance of a lead vehicle, a relative speed of the lead vehicle, and a relative acceleration of the lead vehicle.