US-12617465-B2 - Dynamically adjusting steering torque overlay output

US12617465B2US 12617465 B2US12617465 B2US 12617465B2US-12617465-B2

Abstract

Embodiments provide a vehicle computer coupled to a vehicle. The vehicle computer may be configured to receive sensor data from a plurality of sensors of the autonomous vehicle, analyze the sensor data, predict a need for a steering torque overlay based on analyzing the sensor data, determine a steering torque overlay output based on at least the sensor data, provide the steering torque overlay output to a steering system of the vehicle, and control the steering system in view of the steering torque overlay output. The steering torque overlay output is provided to the steering system while the vehicle is transitioning from an autonomous mode or a manual mode to a hybrid mode where the steering system is controlled simultaneously by the vehicle computer and a driver when the steering torque overlay output is applied.

Inventors

Amit Kumar
Siva Bhargav Ravella
Alimzhan Sultangazin

Assignees

PLUSAI, INC.

Dates

Publication Date: 20260505
Application Date: 20230426

Claims (20)

1 . A method comprising: receiving, by a vehicle computer of a vehicle, sensor data from a plurality of sensors of the vehicle, wherein the vehicle is controlled in an autonomous mode, a manual mode, or a hybrid mode; analyzing, by the vehicle computer, the sensor data; predicting, by the vehicle computer, a need for a steering torque overlay based on analyzing the sensor data; determining, by the vehicle computer, a steering torque overlay output based on the predicted need for the steering torque overlay; determining, by the vehicle computer, a predetermined amount of time to apply the determined steering torque overlay output to a steering system of the vehicle based on the predicted need for the steering torque overlay; providing, by the vehicle computer, the determined steering torque overlay output to the steering system of the vehicle; controlling, by the vehicle computer, the steering system in view of the determined steering torque overlay output based on the predetermined amount of time; and responsive to a desired steering angle not being achieved, adjusting, by the vehicle computer, the determined steering torque overlay output.
2 . The method of claim 1 , wherein the predicting further comprises: predicting, by the vehicle computer, a trajectory of the vehicle; predicting, by the vehicle computer, one or more trajectory events along the trajectory ahead of a current position of the vehicle based on at least the sensor data; and determining, by the vehicle computer, the determined steering torque overlay output based on the one or more trajectory events along the trajectory.
3 . The method of claim 2 , wherein the one or more trajectory events along the trajectory includes one or more of a curvature of a road, a surface deformation on the road, a bank angle of the road, a weather condition, or a position of a secondary vehicle in proximity of the vehicle.
4 . The method of claim 2 , wherein determining the determined steering torque overlay output comprises: determining a steering torque overlay amount to overcome the one or more trajectory events along the trajectory, the steering torque overlay amount to be applied on the steering system based on the predetermined amount of time.
5 . The method of claim 1 , wherein the analyzing the sensor data further comprises: correlating the sensor data from the plurality of sensors including one or more of a camera, a motion sensor, an inertial measurement unit (IMU), a light detection and ranging (LIDAR) sensor, or a high definition (HD) map source.
6 . The method of claim 5 , further comprising: assigning weights to the sensor data, wherein for each sensor of the plurality of sensors a weight is assigned to the sensor data received from the sensor and the weight being based on a score assigned to the sensor; and determining the determined steering torque overlay output based on the weighted sensor data.
7 . The method of claim 1 , further comprising: receiving updated sensor data; and adjusting the determined steering torque overlay output based on the updated sensor data.
8 . The method of claim 1 , wherein the determined steering torque overlay output is provided to the steering system of the vehicle while the vehicle is transitioning from the autonomous mode or the manual mode to the hybrid mode.
9 . The method of claim 1 , further comprising: generating, by the vehicle computer, an alert for a driver of the vehicle in the autonomous mode to assume control of the vehicle; and providing, by the vehicle computer, the determined steering torque overlay output while the driver assumes control of the vehicle.
10 . The method of claim 9 , wherein the determined steering torque overlay output is determined in part based on generating the alert.
11 . The method of claim 1 , wherein the steering system of the vehicle is controlled simultaneously by the vehicle computer and a driver when the determined steering torque overlay output is applied.
12 . A vehicle computer of a vehicle, the vehicle computer comprising: one or more processors; and a memory storing instructions that, when executed by the one or more processors, cause the one or more processors to: receive sensor data from a plurality of sensors of the vehicle, wherein the vehicle is controlled in an autonomous mode, a manual mode, or a hybrid mode; analyze the sensor data; predict a need for a steering torque overlay based on analyzing the sensor data; determine a steering torque overlay output based on the predicted need for the steering torque overlay; determine a predetermined amount of time to apply the determined steering torque overlay output to a steering system of the vehicle based on the predicted need for the steering torque overlay; provide the determined steering torque overlay output to the steering system of the vehicle; control the steering system in view of the determined steering torque overlay output based on the predetermined amount of time; and responsive to a desired steering angle not being achieved, adjust the determined steering torque overlay output.
13 . The vehicle computer of claim 12 , wherein the instructions, when executed by the one or more processors, further cause the one or more processors to: predict a trajectory of the vehicle; predict one or more trajectory events along the trajectory ahead of a current position of the vehicle based on at least the sensor data; and determine the determined steering torque overlay output based on the one or more trajectory events along the trajectory.
14 . The vehicle computer of claim 13 , wherein the one or more trajectory events along the trajectory includes one or more of a curvature of a road, a surface deformation on the road, a bank angle of the road, a weather condition, or a position of a secondary vehicle in proximity of the vehicle.
15 . The vehicle computer of claim 13 , wherein the determining the determined steering torque overlay output comprises: determining a steering torque overlay amount to overcome the one or more trajectory events along the trajectory, the determined steering torque overlay amount to be applied on the steering system based on the predetermined amount of time.
16 . The vehicle computer of claim 12 , wherein the analyzing the sensor data further comprises: correlating the sensor data from the plurality of sensors including one or more of a camera, a motion sensor, an inertial measurement unit (IMU), a light detection and ranging (LIDAR) sensor, or a high definition (HD) map source.
17 . The vehicle computer of claim 16 , wherein the instructions, when executed by the one or more processors, further cause the one or more processors to: assign weights to the sensor data, wherein for each sensor of the plurality of sensors a weight is assigned to the sensor data received from the sensor and the weight being based on a score assigned to the sensor; and determine the determined steering torque overlay output based on the weighted sensor data.
18 . The vehicle computer of claim 12 , wherein the instructions, when executed by the one or more processors, further cause the one or more processors to: receive updated sensor data; and adjust the determined steering torque overlay output based on the updated sensor data.
19 . The vehicle computer of claim 12 , wherein the determined steering torque overlay output is provided to the steering system of the vehicle while the vehicle is transitioning from the autonomous mode or the manual mode to the hybrid mode such that the steering system of the vehicle is controlled simultaneously by the vehicle computer and a driver when the determined steering torque overlay output is applied.
20 . A non-transitory computer-readable medium storing instructions that, when executed by one or more processors of a vehicle computer of a vehicle, cause the vehicle computer to perform operations comprising: receive sensor data from a plurality of sensors of the vehicle, wherein the vehicle is controlled in an autonomous mode, a manual mode, or a hybrid mode; analyze the sensor data; predict a need for a steering torque overlay based on analyzing the sensor data; determine a steering torque overlay output based on the predicted need for the steering torque overlay; determine a predetermined amount of time to apply the determined steering torque overlay output to a steering system of the vehicle based on the sensor data predicted need for the steering torque overlay; provide the determined steering torque overlay output to the steering system of the vehicle; control the steering system in view of the determined steering torque overlay output based on the predetermined amount of time; and responsive to a desired steering angle not being achieved, adjust the determined steering torque overlay output of a feature portion that determines at least a shape of the display content.

Description

BACKGROUND Various vehicles employ computing means to aid automated vehicle operation. Recently, in the automotive industry, much of the focus is on making a vehicle operate in a safe manner. In various road scenarios and environmental conditions, a driver of a vehicle may need to apply a higher torque on the steering wheel to achieve a desired steering angle. In some scenarios, physical capabilities of the driver may preclude them from supplying such torque. Exemplary scenarios may include a long-term pull compensation, which is difficult for the driver to supply due to fatigue, or an extreme steering scenario to avoid a vehicle cutting into the driver's lane, where the driver would be unable to quickly supply a large torque on the steering wheel. Failure to supply a sufficient torque to achieve a desired steering angle can lead to a loss of vehicle stability and even compromise its safety. Conventional systems providing an overlay steering system to adjust steering torque are mainly focused on scenarios relying on the current status of the vehicle, which can be detected from only the information available to the steering system (e.g., current steering wheel angle and torque, and/or current vehicle speed). Such systems do not consider additional factors that may contribute to the need for steering torque overlay which may arise in the near future. As a result, the overlay torque provided by such systems is reactive, i.e., providing overlay torque only after the steering angle sufficiently diverges from the desired one. Embodiments are directed to addressing these and other problems, individually and collectively. SUMMARY A system of one or more computers can be configured to perform particular operations or actions by virtue of having software, firmware, hardware, or a combination of them installed on the system that in operation causes or cause the system to perform the actions. One or more computer programs can be configured to perform particular operations or actions by virtue of including instructions that, when executed by data processing apparatus, cause the apparatus to perform the actions. In one general aspect, embodiments provide a vehicle computer coupled to a vehicle. The vehicle computer includes one or more processors and a memory storing instructions that, when executed by the one or more processors, cause the one or more processors to receive sensor data from a plurality of sensors of the autonomous vehicle, analyze the sensor data, predict a need for a steering torque overlay based on analyzing the sensor data, determine a steering torque overlay output based on at least the sensor data, provide the steering torque overlay output to a steering system of the vehicle, and control the steering system in view of the steering torque overlay output. The plurality of sensors may include a map module, a camera, an inertial measurement unit (IMU), one or more steering system sensors, a radar sensor, a light detection and ranging (lidar) sensor, computer vision, a Global Positioning System (GPS) sensor, among other sensors. The vehicle is controlled in an autonomous mode, a manual mode or a hybrid mode. The steering torque overlay output is provided to the steering system while the vehicle is transitioning from an autonomous mode or a manual mode to a hybrid mode where the steering system is controlled simultaneously by the vehicle computer and a driver when the steering torque overlay output is applied. In one general aspect, a method may include receiving, by a vehicle computer of an autonomous vehicle, sensor data from a plurality of sensors of the autonomous vehicle; analyzing, by the vehicle computer, the sensor data; predicting, by the vehicle computer, a need for a steering torque overlay based on analyzing the sensor data; determining, by the vehicle computer, a steering torque overlay output based on at least the sensor data; providing, by the vehicle computer, the steering torque overlay output to a steering system of the vehicle; and controlling, by the vehicle computer, the steering system in view of the steering torque overlay output. The vehicle is controlled in an autonomous mode, a manual mode or a hybrid mode. The steering torque overlay output is provided to the steering system while the vehicle is transitioning from an autonomous mode or a manual mode to a hybrid mode where the steering system is controlled simultaneously by the vehicle computer and a driver when the steering torque overlay output is applied. In one general aspect, a non-transitory computer-readable medium storing instructions that, when executed by one or more processors of a vehicle computer of a vehicle, cause the vehicle computer to receive sensor data from a plurality of sensors of the autonomous vehicle, analyze the sensor data, predict a need for a steering torque overlay based on analyzing the sensor data, determine a steering torque overlay output based on at least the sensor data, provide the steering to