In various embodiments, methods, systems, and vehicle devices are provided. A method of implementing a steering override control phase in a vehicle using a deep neural network (DNN) includes: receiving, by a steering assist unit disposed in the vehicle, a set of vehicle inputs including lane data and vehicle sensor interpretation information and a driver steering input; configuring a task planning module to determine a desired path of the vehicle; configuring a vehicle path prediction module to determine a set of predicted dynamics of the vehicle; a driver override determination module in communication with the DNN is configured to override the automatic steering control torque based on the phase of the steering control operation and the information of the corresponding intervention phase classified in the DNN, and a lateral control module is configured to control the automatic steering control torque based on the determined phase of the steering control operation and driver inputs, such as driver steering torque and torque rate. Steering control torque for automatic steering assist is overrid.
在各种实施例中,提供了方法、系统和车辆设备。一种使用深度神经网络(DNN)在车辆中实现转向超控控制阶段的方法,包括:由设置在车辆中的转向辅助单元接收一组车辆输入,该组车辆输入包括车道数据和车辆传感器解释信息以及驾驶员转向输入;配置任务规划模块以确定车辆的期望路径;配置车辆路径预测模块以确定车辆的一组预测动态;配置与DNN通信的驾驶员超控确定模块,以基于转向控制操作的阶段和通过在DNN中分类的相应干预阶段的信息超控自动转向控制扭矩,以及配置横向控制模块,以基于转向控制操作的确定阶段和驾驶员输入,例如驾驶员转向扭矩和扭矩率,超控用于自动转向辅助的转向控制扭矩。
Methods, systems, and apparatus for adaptive driver override for path-based automated driving assistance
用于基于路径的自动驾驶辅助的自适应驾驶员超控的方法、系统和设备
2022-07-26
Patent
Electronic Resource
Chinese
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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