Cascade Pilot Control for Vehicle Yaw Dynamics
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Solution Overview
Problem
Current methods for controlling vehicle actuators to influence driving behavior, such as yaw behavior, are complex and require significant computational effort or lack real-time capability, often necessitating complex controllers and inefficient optimizer systems.
Innovation Solution
A cascade pilot control method using a non-linear substitute model that maps vehicle lateral dynamics accurately with fewer physical parameters, allowing multiple actuators to be controlled based on a single target driving behavior without the need for a computing-time-intensive optimizer, and utilizing a cascade-like approach with nested feedback loops to manage actuators effectively.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If each actuator is assigned its own controller working in parallel, then the vehicle can apply torque about the vertical axis through multiple actuators, but the coordination effort increases and controller complexity increases due to coupling of degrees of freedom
Solution Approach 1:
The patent combines multiple individual actuator controllers into a single integrated control unit that manages all actuators (brakes, rear axle steering, stabilizers, controlled differentials) through a unified control algorithm. This merging eliminates the need for separate controllers for each actuator, reducing coordination complexity while maintaining the ability to apply yawing moment through multiple actuators simultaneously.
Solution Approach 2:
The control unit is designed with multi-functionality to handle various driving situations and actuator combinations. It can selectively activate different actuators based on vehicle state and driving conditions, providing universal vehicle dynamics control without requiring dedicated controllers for each specific actuator or control scenario.
2Device complexity
If a single target yaw moment is calculated with distribution carried out by a coordinator or optimiser, then the controller structure is simplified, but real-time capability is lost due to computing-time-intensive optimization
Solution Approach 1:
The control algorithm pre-calculates actuator distribution strategies based on vehicle state and anticipated maneuvers. By preparing control commands in advance based on predicted vehicle dynamics needs, the system achieves real-time response without requiring computationally intensive optimization during critical moments of vehicle operation.
Solution Approach 2:
The system changes control parameters dynamically based on vehicle operating conditions, switching between different control strategies and actuator combinations. This allows the simplified controller structure to adapt to varying demands while maintaining real-time capability, avoiding the need for continuous complex optimization by using pre-defined parameter sets for different driving scenarios.
Data Source
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AI summary
The invention relates to a method for operating a vehicle, in particular a motor vehicle, which has at least two actuable actuators that influence the vehicle's driving behavior, in particular its yaw behavior, as required. It is provided that the actuators are actuated by a cascade feedforward control system depending on a desired driving behavior, in particular its yaw behavior, of the vehicle.