Vehicle Controller Switching via Tire-Force Transition Control
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Solution Overview
Problem
Switching between controllers in vehicle control systems can lead to unwanted oscillations, accelerations, and instabilities, affecting vehicle operation and safety, and results in inefficiencies such as increased energy losses, tyre wear, and decreased grip.
Innovation Solution
A method and system where control of an operation parameter of a motion support device is switched from a first controller to a second controller via an intermediate third controller, optimizing the transition by accounting for tyre forces produced by each controller, using a model predictive controller to ensure smooth transitions and minimize differences in allocated and requested tyre forces.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Loss of time
If control is switched directly from the first controller to the second controller, then the switching operation is simple and fast, but unwanted oscillations, accelerations, and instabilities occur affecting vehicle operation and safety
Solution Approach 1:
A third controller is introduced as an intermediary between the first and second controllers to manage the transition. The third controller receives the control signal from the first controller and generates a modified control signal for the second controller, ensuring a smooth transition that avoids oscillations and instabilities while maintaining vehicle safety and operational reliability.
2Speed
If direct controller switching is performed, then the control system response is quick, but energy losses increase and tyre wear accelerates
Solution Approach 1:
The third controller performs preliminary actions by pre-processing the control signal before it reaches the second controller. It anticipates the effects of direct switching and prepares compensatory control actions in advance, thereby reducing energy losses and minimizing tyre wear while maintaining quick control response.
3Ease of operation
If direct controller switching is performed, then the switching process is straightforward, but tyre grip decreases and vehicle safety is compromised
Solution Approach 1:
The third controller implements feedback mechanisms by continuously monitoring the vehicle's operational parameters and the effects of control transitions. It uses this feedback information to adjust the control signal sent to the second controller, ensuring that tyre grip is maintained and vehicle safety is preserved throughout the switching process.
Data Source
AI summary
A computer-implemented method for switching between a first controller and a second controller for a vehicle includes in a first operation stage, controlling an operational parameter of at least one MSD of the vehicle using the first controller, thereby providing a first tire force at at least one tire associated with the MSD, determining a second tire force for the at least one tire based on a vehicle model associated with the second controller, in a second operation stage, controlling the operational parameter of the at least one MSD using a third controller, comprising determining an intermediate value for the operational parameter based on the first and second tire forces, and in a third operation stage, controlling the operational parameter of the at least one MSD using the second controller, thereby providing the second tire force at the at least one tire.