Patent Application
20190041847
The present invention relates to devices and systems for testing automobile safety functions, features and technologies.
Many new vehicles are outfitted with automatic or driver-assistive steering systems, such as Lane Keeping Systems (LKS) or automatic steering functions. Such systems assist the driver in staying within a given roadway lane by, for example, exerting a low level of torque to the vehicle's steering system or applying differential braking to the wheels.
There currently exist robotic steering controllers for use in highly dynamic vehicle evaluations, where high levels of steering torque, large steering angles and high angular rates are required. These robotic steering controllers generally comprise a direct-drive or geared motor mounted to a vehicle's steering wheel, and are equipped with a load reaction mechanism to react the steering loads through rods, or other linkage, attached to vehicle structure, windshield, etc. These systems generally have large self-inertia, damping, and friction characteristics which affect the free response characteristics of the vehicle's steering system while they are installed or connected to the steering wheel. When evaluating LKS, the contribution of the robotic steering controller's own dynamics can affect the performance of the LKS, which is undesirable.
In order to use existing robotic steering controllers for these types of evaluations, the undesirable effects of the robotic controller's own inertia, damping and friction characteristics must be accepted or electronically compensated through the use of high-fidelity torque sensors, high bandwidth controllers and inertia/damping/friction compensation algorithms. Such systems tend to be fairly expensive and complex, and often require careful tuning in order to minimize the effect of the robotic steering controller on the vehicle's own steering system dynamics. In many cases, the effect of the robotic steering controller cannot be completely eliminated through tuning due to minute variations in the controller's own friction or damping characteristics resulting from wear, temperature changes, or other factors, and the controller consequently continues to exert residual torque on the vehicle's steering system, disturbing its free response.
Therefore a need exists to measure the free response of the steering/vehicle system without affecting its dynamics. Further a novel approach to a robotic steering controller is needed to facilitate the evaluation of such systems in a precisely controlled manner.
The present invention provides an elegant solution to the needs described above and offers numerous additional benefits and advantages, as will be apparent to persons of skill in the art. In one aspect, a steering robot for operating a steering wheel of a test automobile is disclosed. The robot includes an actuator mounted to the automobile and an electromechanical connector that detachably connects the actuator to the steering wheel. A steering processor is connected to the actuator and electromechanical connector, the steering processor (1) actuates the actuator, thereby operating the steering wheel when the actuator is connected to the steering wheel by way of the electromechanical connector; and (2) actuates the electromechanical connector, thereby disconnecting the actuator from the steering wheel. The actuator may have an inertia and when the actuator is connected to the steering wheel, the steering wheel experiences the inertia; but when the electromechanical connector is actuated the inertia is decoupled from the steering wheel. The processor may perform step (1) and then step (2) while the test automobile is moving. A remote control may control the steering processor through a wireless signal. The steering robot may also have a connection structure that transfers the torque from the actuator to the steering wheel and that structure may be an actuator arm, a shaft, or a plate.
The electromechanical connector may be an electromagnet attracted to a piece of metal, wherein the actuation of the electromechanical connector includes deactivation of the electromagnet such that the electromagnet is not attracted to the piece of metal. Alternatively, the electromechanical connector may be a pin inserted into a slot, wherein the actuation of the electromechanical connector includes removing the pin from the slot. In another alternative, the electromechanical connector may be a pincer.
The actuator may be under an actuator detachment force, but the connection of the actuator to the steering wheel (via the electromechanical connector) is sufficient to overcome the force. When the electromechanical connector is actuated, the actuator detachment force moves the electromechanical connector away from the steering wheel.
The actuator may be connected to the automobile by a bracing rod and automobile mount. The test automobile may also have an automobile processor connected to automobile sensors, and the steering processor may be connected to the automobile processor.
A method for testing an automobile's safety functions with a steering robot is also disclosed. The method includes (a) providing a steering robot connected to a steering wheel of the test automobile, the robot having an inertia, the robot is coupled to the steering wheel; (b) driving the test automobile; (c) while driving, actuating the robot to operate the steering wheel; (d) while driving, decoupling the robot from the steering wheel thereby decoupling the inertia from the steering wheel; and (e) evaluating the automobile safety functions. The actuation of the robot in step (c) may be sufficient to direct the test automobile out of its current lane. Steps (c) and (d) may be controlled by a processor, and that processor need not be on board the test automobile. The method can be used to test automobile safety functions such as, but not limited to, a lane keeping system, an autonomous driving system or a semi-autonomous driving system.
Additional aspects, alternatives and variations as would be apparent to persons of skill in the art are also disclosed herein and are specifically contemplated as included as part of the invention. The invention is set forth only in the claims as allowed by the patent office in this or related applications, and the following summary descriptions of certain examples are not in any way to limit, define or otherwise establish the scope of legal protection.
The invention can be better understood with reference to the following figures. The components within the figures are not necessarily to scale, emphasis instead being placed on clearly illustrating example aspects of the invention. In the figures, like reference numerals designate corresponding parts throughout the different views and/or embodiments. Furthermore, various features of different disclosed embodiments can be combined to form additional embodiments, which are part of this disclosure. It will be understood that certain components and details may not appear in the figures to assist in more clearly describing the invention.
Reference is made herein to some specific examples of the present invention, including any best modes contemplated by the inventor for carrying out the invention. Examples of these specific embodiments are illustrated in the accompanying figures. While the invention is described in conjunction with these specific embodiments, it will be understood that it is not intended to limit the invention to the described or illustrated embodiments. To the contrary, it is intended to cover alternatives, modifications, and equivalents as may be included within the spirit and scope of the invention as defined by the appended claims.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. Particular example embodiments of the present invention may be implemented without some or all of these specific details. In other instances, process operations well known to persons of skill in the art have not been described in detail in order not to obscure unnecessarily the present invention. Various techniques and mechanisms of the present invention will sometimes be described in singular form for clarity. However, it should be noted that some embodiments include multiple iterations of a technique or multiple mechanisms unless noted otherwise. Similarly, various steps of the methods shown and described herein are not necessarily performed in the order indicated, or performed at all in certain embodiments. Accordingly, some implementations of the methods discussed herein may include more or fewer steps than those shown or described. Further, the techniques and mechanisms of the present invention will sometimes describe a connection, relationship or communication between two or more entities. It should be noted that a connection or relationship between entities does not necessarily mean a direct, unimpeded connection, as a variety of other entities or processes may reside or occur between any two entities. Consequently, an indicated connection does not necessarily mean a direct, unimpeded connection unless otherwise noted.
The following list of example features corresponds with
In order to minimize or eliminate the steering robot's effect on the free response dynamics of the steering/vehicle system, it is necessary to decouple the steering robot from the steering wheel as completely as possible. The present innovation achieves this through the use of an electronic or mechanical (electromechanical) connector between the robotic control actuator and the steering wheel. This design provides precise on-center and small angle path-following steering control as well as precise open-loop steering inputs. Further, the quick disconnect of the actuator from the steering wheel when prescribed conditions are met (e.g., at a given point along a path, at a given yaw rate, path curvature, etc.), minimizes the inertial and other effects of the actuator and its mechanical attachments on the free response of the steering/vehicle system.
The system described here may use a commercial grade angular motion electromechanical servo actuator. As should be recognized, the actuator may be of any type that creates rotational or translational movement that can be transferred to the steering wheel. Non-limiting types of actuators include: hydraulic, pneumatic, mechanical, electrical, thermal, magnetic, and vacuum actuators (these actuators may be combinations of the foregoing, as well; for example, a vacuum-assisted mechanical or electro-hydraulic). In a preferred embodiment, the electromechanical servo actuator is mounted to the automobile, for example, by a rod that is connected to the windshield by means of a suction cup. An electromechanical connector is attached to the end of the servo arm and may attach to a small steering wheel bracket, which is secured to the vehicle's steering wheel rim via light-weight tie-wraps. In another embodiment, the actuator can be connected to the steering wheel (or steering wheel nut) through the use of a shaft in torsion. The connection structure is intended to transfer the torque from the actuator to the steering wheel.
Referring now to
A connection structure—i.e., actuator arm 25A—is connected to the actuator 20 which has an electromechanical connector 30 that temporarily connects the actuator arm 25A to the steering wheel 10. Optionally, the steering wheel 10 may have a lightweight steering wheel bracket 15 that is the connection point to the electromechanical connector 30. The actuator arm 25A is depicted as a longitudinal rod, but it need not be so; rather the actuator arm 25A may be used to amplify the rotational movement of the actuator 20 by connecting the to the rotational axis of the actuator 20 at one location on the actuator arm 25A and connecting to the electromechanical connector 30 at another location on the actuator arm 25A. Therefore, the actuator arm 25A may be shaped more like a plate if necessary. Further the actuator arm 25A need not be used; rather the actuator 20 may be connected to the steering wheel through other types of connection structures such a shaft, discussed in more detail below with respect to
A steering processor 75 is connected to the actuator 20 and electromechanical connector 30 and can control them both. By actuating the actuator 20, the processor 75 can operate the steering wheel 10 when the actuator 20 is connected to the steering wheel 10 by way of the electromechanical connector 30. This is shown by the robotic steering rotation 50 in
A compliant coupling 27 between the end of the actuator arm 25A and the attachment to the steering wheel 10 is optional. Some LKS systems determine driver attentiveness/alertness by monitoring steering wheel torque and angular variations. In some cases, a rigid coupling between the actuator arm 25A and the steering wheel 10 can be interpreted as an attentive driver, which may cause the LKS to suppress certain features and functions, including steering intervention, and adversely affect the evaluation of the LKS. A compliant coupling 27 can be interpreted as a less attentive driver, such that the LKS will not suppress steering interventions. The compliant coupling 27 may further include an adjustable spring rate and preload, such that the compliance of the coupling can be tailored to suit the requirements of the evaluation.
It is preferred that upon actuation and disconnection of the electromechanical connector 30, that the actuator 20, including the actuator arm 25A, move away from the steering wheel 10 so as to prevent any interference with the steering wheel 10. To assist with this movement, the robot 5 and the actuator 20 may experience an actuator detachment force 65, but the connection of the actuator 20 to the steering wheel 10 by way of the electromechanical connector 30 is sufficient to overcome the force. Actuating the electromechanical connector 30 causes the actuator detachment force 65 to move the actuator 20 away from the steering wheel 60 as shown in
Because the steering robot 5 and has mass, it also has self-inertia. Its self-inertia provides inertial loading when it is connected to the steering wheel. The actuator 20 also has internal resistance to rotation, and this is experienced in the form of a drag force when it is connected to the steering wheel. These happen even when the steering robot 5 is turned off or deactivated. Because the test automobile's safety features attempt to direct the car in a safe direction, but can be overcome by a driver's slight torque on the steering wheel, this inertia and drag can skew the evaluation of the test automobiles safety features. Ideally, the steering wheel should have as little external inertia and drag as possible to have a useful and unbiased evaluation. When the currently steering robot 5 actuates the electromechanical connector 30, the steering wheel 10 is decoupled from the external inertia and drag, allowing for the more accurate evaluation.
Turning now to
In the embodiment just described, the actuator 20 is situated to the side of the steering wheel 10, such that its rotational axis is parallel to, but not coincident with, the rotational axis of the steering wheel 10. In this case, the electromechanical connector 30 may be situated on the forward side of the steering wheel 10 (i.e., the side opposite the driver) such that it can fall away from the steering wheel 10 under its own weight upon disconnect. In this embodiment, the rotational plane of the actuator is not necessarily equal to the rotational plane of the steering wheel. This is shown in
In another embodiment, the actuator 20 is situated over the steering wheel 10, such that its rotational axis is coincident with the rotational axis of the steering wheel. In this case, the electromechanical connector 30 is situated on the rear side of the steering wheel 10 (i.e., the side nearest the driver). In this embodiment, it may be necessary to provide some means of biasing the actuator arm 25A away from the steering wheel 10 such that when the actuator 20 is disconnected from the steering wheel 10, it is moved slightly upward and away from the steering wheel 10. The structures disclosed in
The invention has been described in connection with specific embodiments that illustrate examples of the invention but do not limit its scope. Unless indicated otherwise, any feature, aspect or element of any of these example embodiments may be removed from, added to, combined with or modified by any other feature, aspect or element. As will be apparent to persons skilled in the art, modifications and adaptations to be above-described example embodiments of the invention can be made without departing from the spirit and scope of the invention, which is defined only by the following claims.
The present application claim priority to U.S. Provisional Patent Application No. 62/539,652 filed on Aug. 1, 2017, all of the contents of which are incorporated herein by reference including all tables, figures and claims. The present invention is related to U.S. patent application Ser. No. 14/062,287, filed Oct. 24, 2013, which claims benefit of U.S. Provisional Application No. 61/874,274, filed Sep. 5, 2013, and claims benefit of U.S. Provisional Application No. 61/874,267, filed Sep. 5, 2013, and claims benefit of U.S. Provisional Application No. 61/874,264, filed Sep. 5, 2013, and which is a continuation-in-part application of U.S. patent application Ser. No. 13/532,417, filed Jun. 25, 2012, now U.S. Pat. No. 8,583,358, issued Nov. 12, 2013, and which is a continuation-in-part application of U.S. patent application Ser. No. 13/532,430, filed Jun. 25, 2012, now U.S. Pat. No. 8,589,062, issued Nov. 19, 2013, which claims benefit of U.S. Provisional Application No. 61/507,539, filed Jul. 13, 2011, and claims benefit of U.S. Provisional Application No. 61/578,452, filed Dec. 21, 2011; and which is a continuation-in-part application of U.S. patent application Ser. No. 13/357,526, filed Jan. 24, 2012, now U.S. Pat. No. 8,447,509, issued May 21, 2013; and which claims benefit of U.S. Provisional Application No. 61/621,597, filed Apr. 9, 2012, and which claims benefit of U.S. Provisional Application No. 61/639,745, filed Apr. 27, 2012; all of which are hereby incorporated herein by reference in their entirety including all tables, figures and claims. U.S. patent application Ser. No. 14/062,287 is also a continuation-in-part of U.S. patent application Ser. No. 14/050,039, filed Oct. 9, 2013, and is a continuation-in-part application of U.S. patent application Ser. No. 14/050,048, filed Oct. 9, 2013, all of which are hereby incorporated herein by reference in their entirety including all tables, figures and claims. The present invention is related to U.S. patent application Ser. No. 15/643,079 filed on Jul. 6, 2017 which claims priority to U.S. Patent Application 62/359,929 filed on Jul. 8, 2016, both of which are hereby incorporated herein by reference in their entirety including all tables, figures and claims. The present invention is related to U.S. patent application Ser. No. 15/408,759 filed on Jan. 18, 2017 which claims priority to U.S. Patent Application 62/429,785 filed on Dec. 3, 2016, both of which are hereby incorporated herein by reference in their entirety including all tables, figures and claims.
| Number | Date | Country | |
|---|---|---|---|
| 62539652 | Aug 2017 | US |
