Cascaded Vehicle Motion Control with Configurable Bandwidth
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Solution Overview
Problem
Existing control systems for heavy-duty vehicles face challenges in efficiently and reliably coordinating the control of multiple actuators across different control units, leading to potential interference and suboptimal vehicle performance.
Innovation Solution
A control system comprising an upper-level control system and a lower-level control system, where the upper-level system transmits control signals with data indicative of a desired control bandwidth to the lower-level system, allowing for tailored responsiveness of the vehicle to various driving scenarios and environments, while avoiding interference between cascaded control loops.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If a high-level controller directly controls all levels of the control system, then the control responsiveness is improved, but the risk of control interference and instability increases
Solution Approach 1:
The control system is divided into multiple hierarchical levels (high-level controller, low-level controllers, and actuators) with distinct control functions at each level. The high-level controller handles strategic decisions and trajectory planning, while low-level controllers manage tactical execution and actuator control. This segmentation prevents control interference by ensuring each controller operates within its designated scope and time scale.
Solution Approach 2:
The patent implements dynamic control bandwidth adjustment where the high-level controller adapts the control bandwidth of low-level controllers based on the current driving scenario. During emergency maneuvers, the control bandwidth is increased for faster response, while during normal driving, it is reduced for smoother control. This dynamic adaptation allows the system to maintain stability across varying operational conditions.
2Productivity
If the control bandwidth is increased for faster response, then the productivity is improved, but the vehicle comfort and energy efficiency deteriorate
Solution Approach 1:
The control bandwidth is dynamically adjusted based on the driving scenario and urgency of the maneuver. During emergency situations, the control bandwidth is increased to achieve rapid maneuver execution. During normal driving conditions, the control bandwidth is reduced to provide smoother control actions that enhance passenger comfort and reduce energy consumption. This dynamic adjustment allows the system to optimize the trade-off between productivity and comfort.
Solution Approach 2:
The patent changes the control bandwidth parameter of the low-level controllers based on the high-level controller's assessment of the driving scenario. By modifying this key parameter, the system can switch between different control modes (aggressive vs. comfortable) without changing the overall control architecture, enabling flexible adaptation to different operational requirements.
3Device complexity
If multiple control units operate independently, then the device complexity is reduced, but the control coordination and reliability worsen
Solution Approach 1:
The control system is segmented into hierarchical levels with clear division of responsibilities. The high-level controller handles strategic functions (trajectory planning, scenario assessment) while low-level controllers handle tactical functions (actuator control, real-time adjustments). This segmentation maintains manageable device complexity while ensuring reliable coordination through defined communication protocols and control signal flows between levels.
Data Source
AI summary
A control system for motion management of a heavy-duty vehicle includes an upper-level control system and a lower-level control system. The upper-level control system is arranged to obtain a desired motion behavior by the vehicle and to transmit one or more control signals adapted for control of at least one motion support device, MSD, to the lower-level control system in dependence of the desired motion behavior by the vehicle. The one or more control signals transmitted from the upper-level control system to the lower-level control system comprises data indicative of a desired control bandwidth for control of the at least one MSD. The lower-level control system is arranged to receive the control signals and to control the at least one MSD in dependence of the desired control bandwidth.