Autonomous Vehicle Brake Force Distribution for Variable Wheel Loads
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Solution Overview
Problem
Autonomous vehicles face challenges in accurately controlling braking force due to unpredictable changes in vertical load caused by movable objects inside the vehicle, leading to unstable driving and potential safety hazards.
Innovation Solution
A control method that uses a controller to recognize objects inside the vehicle, determine their position, size, weight, and center of gravity, and calculate the vertical load applied to each wheel, transmitting this data to a brake controller to adjust the braking force distribution and prevent wheel locking and object falls.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the vehicle uses a fixed seat structure with uniform interior layout, then the vertical load on each wheel is easy to recognize and control, but the vehicle cannot accommodate movable objects and passengers freely as required by autonomous vehicle operations
Solution Approach 1:
The system performs preliminary recognition of objects inside the vehicle before braking operations. The controller identifies the position, weight, and center of gravity of objects ahead of time, calculates the resulting vertical load distribution on wheels in advance, and uses this information to determine appropriate braking force distribution. This preliminary calculation enables accurate braking control despite the variable interior configuration of autonomous vehicles.
2Adaptability or versatility
If the vehicle allows movable objects and free passenger movement inside, then the vehicle operational flexibility is improved, but the vertical load on each wheel changes sharply making it difficult to recognize and control braking force
Solution Approach 1:
The system continuously monitors the interior environment of the vehicle, detecting changes in object positions and configurations. Based on this feedback information, the controller recalculates the vertical load distribution on each wheel and adjusts the braking force allocation accordingly. This closed-loop feedback mechanism ensures reliable and stable braking performance even as the interior configuration changes during autonomous operation.
3Device complexity
If the brake controller uses traditional fixed braking force distribution, then the control system is simple, but wheel locking occurs when vertical load varies due to movable objects
Solution Approach 1:
The brake control system transitions from a static, fixed braking force distribution to a dynamic system that continuously adapts to changing interior conditions. The controller calculates vertical loads based on detected object positions and weights, then dynamically adjusts the braking force allocated to each wheel in real-time. This dynamic adaptation prevents wheel locking while maintaining simple brake actuator hardware, achieving high braking precision without proportionally increasing system complexity.
Data Source
AI summary
A control method for distribution of braking force of an autonomous vehicle may include a vertical load determination step in which a controller is configured to recognize an object existing in an interior of the vehicle and recognizes data of at least one among a position in the vehicle, a size, volume, density, weight, and center of gravity of the corresponding object, and determines a vertical load applied to each wheel of the vehicle according to the recognized data, wherein the controller transmits data of the determined vertical load of each wheel to a brake controller electrically connected to the controller, and the brake controller 40 determines an amount of the distribution of the braking force for each wheel of the vehicle according to the received data of the vertical load and drives a brake actuator electrically connected to the brake controller according to the determined amount of the distribution of the braking force.