Adaptive Rudder Angle Correction for Steering N Deviation
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Solution Overview
Problem
Conventional vehicular travel control devices cause unusual feelings for passengers due to N deviation, where the relationship between steering wheel rotation and rudder angle of steerable wheels is improper, leading to discomfort, especially at higher speeds or slower steering operations.
Innovation Solution
A vehicular steering control device with a rudder angle varying device and a rudder angle control device that adjusts the relationship between steering wheel position and rudder angle, slowing down the correction process at lower steering operation speeds and higher vehicle speeds to minimize the unusual feeling, and configuring the system to avoid corrections when the steering operation is slow or the lane curvature is mild.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If the rudder angle varying device is controlled to reduce N deviation by rotating the steering wheel or adjusting the rudder angle, then the relationship between steering wheel position and rudder angle becomes proper, but the steering wheel rotates or vehicle moves without corresponding changes, causing unusual feeling for passengers
Solution Approach 1:
The patent applies dynamics by making the correction speed adaptive rather than fixed. The rudder angle control device dynamically adjusts the correction speed based on detected vehicle speed and steering operation speed, allowing the system to optimize between correction efficiency and passenger comfort in different operating conditions.
Solution Approach 2:
The patent changes the parameter of correction speed based on vehicle speed and steering operation speed. When vehicle speed is high or steering operation speed is low, the correction speed is reduced to minimize unusual feelings. This parameter adaptation resolves the contradiction by adjusting the correction process to match actual operating conditions.
2Productivity
If the correction speed is increased to efficiently reduce N deviation, then the alignment is restored quickly, but the unusual feeling becomes more noticeable especially at high vehicle speeds or low steering operation speeds
Solution Approach 1:
The system dynamically adjusts correction speed based on real-time detection of vehicle speed and steering operation speed. This dynamic adaptation allows the system to maintain high correction efficiency when conditions permit while reducing correction speed when it would cause unusual feelings, thus resolving the productivity-comfort contradiction.
Solution Approach 2:
The correction speed parameter is changed adaptively based on operating conditions. The control device detects vehicle speed and steering operation speed, then adjusts the correction speed parameter accordingly - reducing it when vehicle speed is high or steering operation speed is low to prevent unusual feelings, thereby balancing correction efficiency with passenger comfort.
3Ease of operation
If the N deviation modifying control is performed only when the steering wheel is rotated toward the neutral position, then the steering transmission ratio variation is reduced, but the N deviation amount is not reduced unless the steering wheel is rotated in the correct direction
Solution Approach 1:
The patent uses feedback by detecting the current steering wheel position and rotation direction, then determining the appropriate correction action. The rudder angle control device continuously monitors steering operation and adjusts the rudder angle accordingly, ensuring correction is performed effectively regardless of the direction in which the driver rotates the steering wheel.
Data Source
AI summary
A vehicular steering control device which comprises a rudder angle varying device which changes a relationship between an operational position of steering wheel operated for steering by a driver and a rudder angle of front wheels; and a rudder angle control device which performs an automatic steering control of the front wheels for a trajectory control of a vehicle by controlling the rudder angle varying device. The rudder angle control device performs a termination control which removes a deviation in the relationship between an operational position and a rudder angle of the front wheels, namely, an N deviation when the automatic steering control is terminated. A speed of removing the N deviation is lowered when a magnitude of a steering operation speed is small, compared to when a magnitude of a steering operation speed is large.