Vehicle Brake Control Arbitration for Conflicting Motion Requests
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Solution Overview
Problem
The increasing complexity of managing multiple requests from various driving support systems for vehicle actuators, such as automatic driving and parking, complicates the control process in existing control devices, leading to inefficiencies in handling simultaneous requests and maintaining vehicle stability.
Innovation Solution
A control device with an arbitrating unit to manage and distribute requests from multiple application units, a feedback controller to monitor vehicle motion, and a vehicle motion controller to prioritize actuator control for stability, integrated with wheel speed sensors for direct input, facilitating comprehensive management and feedback of vehicle motion.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If multiple driving support systems make requests to actuators simultaneously, then the functionality and versatility of the vehicle control system is improved, but the complexity of managing and arbitrating these requests increases
Solution Approach 1:
The control device segments the request management process into distinct functional units: an arbitrating unit that receives and prioritizes requests from multiple application requesting units, and a command distributing unit that distributes commands to actuators. This segmentation allows each unit to handle specific aspects of request management independently, reducing overall system complexity while maintaining versatility.
Solution Approach 2:
The arbitrating unit acts as an intermediary between multiple application requesting units and the command distributing unit. It receives motion requests from various driving support systems, arbitrates their priority and compatibility, and forwards resolved commands to the command distributing unit. This intermediary structure prevents direct complex interactions between multiple request sources and actuator controllers.
2Device complexity
If a single control device manages all actuator requests, then the system structure is simplified, but the ability to handle multiple simultaneous requests efficiently deteriorates
Solution Approach 1:
The control device is segmented into specialized functional units: an arbitrating unit for request prioritization and conflict resolution, and a command distributing unit for efficient command dispatch to actuators. This segmentation enables parallel processing of multiple requests within a single control device, improving request handling efficiency without requiring multiple separate controllers.
Solution Approach 2:
The arbitrating unit dynamically adjusts request priority and arbitration based on real-time vehicle conditions and request characteristics. It can adaptively change the arbitration strategy depending on the type of driving support function requesting control, ensuring efficient handling of simultaneous requests while maintaining a single control device structure.
3Speed
If feed-forward control is used for each actuator based on availability, then the responsiveness of individual actuators is improved, but the overall coordination and vehicle stability control becomes more complex
Solution Approach 1:
The control device incorporates feedback mechanisms where the arbitrating unit receives information about actuator availability and control state, and uses this feedback to adjust feed-forward control commands. The command distributing unit distributes commands based on real-time availability information, ensuring coordinated actuator response while maintaining vehicle stability through continuous feedback loops.
Data Source
AI summary
A control device for controlling a brake of a vehicle includes an arbitrating unit configured to receive motion requests for a plurality of actuators, which are used for controlling a motion of the vehicle, from a plurality of application requesting units related to driving support functions and to arbitrate the received motion requests, a command distributing unit configured to distribute commands to controllers for controlling the actuators based on an arbitration result obtained by the arbitrating unit, and a feedback controller configured to feed back a control record value indicating the motion of the vehicle, which is measured by using sensor units, to the application requesting units and to realize the motion of the vehicle requested by the application requesting units.