Adaptive Trajectory Monitoring for Load-Dependent Turn Control
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Solution Overview
Problem
Existing trajectory control systems for motor vehicles, while ensuring safety, often compromise comfort during turns due to oversteering or abnormal deviations, particularly when vehicle loading affects dynamics.
Innovation Solution
A method is introduced to detect unsuitability of the anticipator module during turns by assessing lateral deviation and feedback module contributions, calculating secondary parameters through optimization, and updating the vehicle's bicycle model to correct trajectory deviations, thereby reducing feedback module contribution and enhancing comfort.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the closed loop is made more dynamic to correct oversteering or abnormal deviation, then safety is improved, but comfort deteriorates
Solution Approach 1:
The bicycle model parameters are updated dynamically based on detected vehicle loading conditions. The system transitions from a static model to an adaptive model that changes characteristics according to the actual load, allowing optimal performance across different operating conditions without compromising comfort
Solution Approach 2:
The system changes the parameters of the bicycle model (such as mass, center of gravity position, moment of inertia) based on detected loading conditions. By adjusting these parameters, the anticipator module can accurately predict trajectory deviations caused by loading and compensate for them, resolving the contradiction between safety and comfort
2Ease of operation
If a smooth control law is implemented to avoid jerks, then comfort is improved, but the ability to correct abnormal deviation deteriorates
Solution Approach 1:
The anticipator module performs preliminary action by predicting trajectory deviations before they occur, based on the updated bicycle model that accounts for vehicle loading. This allows the system to prepare corrective actions in advance, maintaining smooth control while ensuring accurate trajectory correction
Solution Approach 2:
The system uses feedback from the detection module that monitors lateral deviation and feedback module contribution. This feedback loop allows the system to detect when loading-induced deviations occur and adjust the bicycle model parameters accordingly, maintaining both comfort and trajectory accuracy
Data Source
AI summary
A method for setting an anticipator module with which a control device controls the trajectory of a motor vehicle is equipped includes detecting whether the anticipator module is unsuitable during a turn by taking account of a lateral deviation with respect to an ideal trajectory and/or a contribution of a feedback module of the control device, determining primary parameters, calculating a secondary parameter by an optimization-based calculation method taking account of the determined primary parameters, and updating a bicycle model of the vehicle by taking account of the calculated secondary parameter.