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 proactive lane assist system, comprising:
a sensor configured to obtain data from an operational environment;
a processor configured to:
compute a deceleration estimate based on a predicted action of a remote vehicle in the operational environment;
compute a feedback force based on the deceleration estimate; and
adjust an accelerator pedal output to-torque conversion at a rate based on the predicted action of the remote vehicle.
2. The proactive lane assist system of claim 1 , wherein the accelerator pedal output to-torque conversion is adjusted based on the computed feedback force.
3. The proactive lane assist system of claim 1 , wherein the predicted action of the remote vehicle is based on a scene detected in the operational environment.
4. The proactive lane assist system of claim 1 , wherein the processor is further configured to track an action of the remote vehicle in the operational environment to detect a scene.
5. The proactive lane assist system of claim 1 , wherein the processor is further configured to associate the obtained data with the remote vehicle in the operational environment.
6. The proactive lane assist system of claim 5 , wherein the processor is further configured to classify the remote vehicle as an in-lane vehicle, a neighbor-lane vehicle, or an on-coming vehicle.
7. The method of claim 5 , further comprising:
classifying the remote vehicle as an in-lane vehicle, a neighbor-lane vehicle, or an on-coming vehicle.
8. The proactive lane assist system of claim 1 , further comprising:
a memory that includes pedal maps, wherein each pedal map of the pedal maps is a representation of a method to convert a driver accelerator pedal output to a driver torque request.
9. The proactive lane assist system of claim 8 , wherein each pedal map is expressed as a curve of torque versus speed and accelerator pedal output.
10. The proactive lane assist system of claim 8 , wherein the processor is further configured to modify a pedal map of the pedal maps.
11. The proactive lane assist system of claim 10 , wherein the processor is further configured to dynamically modify the pedal map based on an estimated deceleration requirement.
12. A method for use in a proactive lane assist system, the method comprising:
computing a deceleration estimate based on a predicted action of a remote vehicle in an operational environment;
computing a feedback force based on the deceleration estimate; and
adjusting an accelerator pedal output to-torque conversion at a rate based on the predicted action of the remote vehicle.
13. The method of claim 12 , wherein the accelerator pedal output to-torque conversion is adjusted based on the computed feedback force.
14. The method of claim 12 , wherein the
predicted action of the remote vehicle is based on a scene detected in the operational environment.
15. The method of claim 12 , further comprising:
tracking an action of the remote vehicle to detect a scene.
16. The method of claim 12 , further comprising:
associating obtained data with the remote vehicle.
17. The method of claim 12 , further comprising:
storing pedal maps, wherein each pedal map of the pedal maps is a representation of a method to convert a driver accelerator pedal output to a driver torque request.
18. The method of claim 17 , wherein each pedal map is expressed as a curve of torque versus speed and accelerator pedal output.
19. The method of claim 17 , further comprising:
modifying a pedal map of the pedal maps.
20. The method of claim 19 , further comprising:
dynamically modifying the pedal map based on an estimated deceleration requirement.