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US 12,202,527 B2Granted
Method for terminating an automated driving operation of a vehicle
AssigneeMercedes-Benz Group AG
InventorsRalph Streiter, Albin Remäng
Life of this patent
Estimating the term…
Abstract
A method for terminating an automated driving function of a vehicle involves deactivating the driving function by a steering intervention of a driver of the vehicle in a steering system, which includes a steering column and a steering wheel. In order to determine the steering intervention, a steering column torque at the steering column is measured and a steering wheel angle is measured. A manual torque acting on the steering wheel is estimated based on the measured steering column torque and the measured steering wheel angle. The estimation is based on a model equation of the steering system, which takes into consideration a moment of inertia of the steering wheel and a frictional torque in the steering system.
Claims10
A method for terminating an automated driving function of a vehicle, the method comprising:
- determining whether there is a steering intervention of a driver of the vehicle in a steering system, which comprises a steering column and a steering wheel, wherein, the determination of the steering intervention involves
- measuring a steering column torque at the steering column;
- measuring a steering wheel angle of the steering wheel;
- estimating a manual torque acting on the steering wheel based on the measured steering column torque and the measured steering wheel angle, wherein the estimation of the manual torque is based on a model equation of the steering system, wherein the model equation takes into consideration a moment of inertia of the steering wheel and a frictional torque in the steering system;
- and
- deactivating the automated driving function based on the determination of whether there is a steering intervention of the driver of the vehicle,
- wherein the manual torque is estimated by the following formula
- MT=MSCT−(Product1)−(Product2), wherein MT is the manual torque, subtracting, from MSCT is the measured steering column torque, Product1 is a product formed from the moment of inertia and a second order time derivative of the steering wheel angle, Product2 is a product formed from the frictional torque and a first order time derivative of the steering wheel angle, and the first order time derivative of the steering wheel angle is dependent on a rotation direction.
5 more elements
A vehicle, comprising:
- an automated driving function;
- a steering system comprising a steering column and a steering wheel;
- a torque sensor arranged on the steering column and configured to measure a steering column torque;
- a steering wheel angle sensor configured to measure a steering wheel angle of the steering wheel;
- and
- a control unit configured to
- determine whether there is a steering intervention of a driver of the vehicle in the steering system, wherein the determination of the steering intervention involves
- measuring a steering column torque at the steering column;
- measuring a steering wheel angle of the steering wheel;
- estimating a manual torque acting on the steering wheel based on the measured steering column torque and the measured steering wheel angle, wherein the estimation of the manual torque is based on a model equation of the steering system, wherein the model equation takes into consideration a moment of inertia of the steering wheel and a frictional torque in the steering system;
- and
- deactivate the automated driving function based on the determination of whether there is a steering intervention of the driver of the vehicle,
- wherein the manual torque is estimated by the following formula
- MT=MSCT−(Product1)−(Product2), wherein MT is the manual torque, MSCT is the measured steering column torque, Product1 is a product formed from the moment of inertia and a second order time derivative of the steering wheel angle, and Product2 is a product formed from the frictional torque and a first order time derivative of the steering wheel angle, and the first order time derivative of the steering wheel angle is dependent on a rotation direction.
11 more elements
A method for terminating an automated driving function of a vehicle, the method comprising:
- determining whether there is a steering intervention of a driver of the vehicle in a steering system, which comprises a steering column and a steering wheel, wherein, the determination of the steering intervention involves
- measuring a steering column torque at the steering column;
- measuring a steering wheel angle of the steering wheel;
- estimating a manual torque acting on the steering wheel based on the measured steering column torque and the measured steering wheel angle, wherein the estimation of the manual torque is based on a model equation of the steering system, wherein the model equation takes into consideration a moment of inertia of the steering wheel and a frictional torque in the steering system;
- and
- deactivating the automated driving function based on the determination of whether there is a steering intervention of the driver of the vehicle,
- wherein the manual torque is estimated by the following formula
- MT=MSCT−(Product1)−(Product2), wherein MT is manual torque, MSCT is the measured steering column torque, Product1 is a product formed from the moment of inertia and a second time derivative of the steering wheel angle, Product2 is a product formed from the frictional torque and a first time derivative of the steering wheel angle, and the first time derivative is dependent on a rotation direction,
- wherein the first and second time derivatives are calculated via using a third-order Bessel filter.
6 more elements
Dependencies are inferred from the claim text.