Active Customizable Steering Feel Adjustment for Automated Driving and Driver Assist

摘要

The present invention provides a method to control the torque command based on driver's preference to provide customizable steering feel feedback and steering assist level. In one embodiment of the present invention, for an automated driving scenario, a central control module 1 receives road and lane marking information from a camera 2, vehicle accelerations and yaw rate form an Inertial Measurement Unit 3, driver applied torque from the steering wheel sensors 4, vehicle steering angle steering column or rack 5, wheel rotational velocities from the ABS system 6, driver's steering feel preference from the user's input into the vehicle's instrument panel cluster (IPC) 7 Using the above mentioned information, the control module 1 calculates a kinematic controls factor, a dynamic control factor, and a steering feel customization factor. These control factors are tunable using pre-defined or adaptive parameters. A weighted combination of the above control factors is used to calculate the steering command which is sent to the EPS 8 to control the vehicle's motion. The resulting adaptive torque command can ensure a desirable trajectory tracking performance while incorporating the feel-adjustment. The feedback torque from the EPS 8 back to the steering wheel 4 provides a customized steering feel for assistive hands-on automated driving based on driver's preference.