Initial control algorithm for switching-in and switching-out an automatic steering system: Advance-F

This paper emphasizes discussing the ways of an equipped vehicle switching-in and switching-out the automatic steering system. Here, the algorithms for the transition of the control are proposed. ADVANCE-F is an IVHS system being developed in Taiwan. The field test is being conducted for automatic steering control. Basically, the system can keep the equipped vehicle running in a specially material-marked lane without manual handling. Although the major control model is satisfactory, switching-in and switching-out the automatic steering system are much critical for control stability. The paper describes the algorithms including (1) from the manual driving mode to the automatic driving mode and (2) from the automatic driving mode to the manual driving mode. This transition situation is concluded in a flow chart. In this system, there is about 3 to 4 seconds delay before the machine taking over the handling to avoid the mechanical over-shooting phenomenon in the initial stage. In the final, the basic requirements of man-machine interface are proposed.