Vehicle Controller Switching via Intermediate Tyre Force 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 and tyre wear.
Innovation Solution
A method and system for switching control of a vehicle's motion support device from a first controller to a second controller via an intermediate third controller, which optimizes the transition by determining intermediate tyre forces based on the tyre forces produced by each controller, using a model predictive controller to ensure smooth transitions and minimize differences between 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 intermediate controller is introduced between the first and second controllers to facilitate the transition. The intermediate controller receives control signals from the first controller and gradually transitions to the control signals from the second controller, thereby mediating the switching process and avoiding direct switching issues.
Solution Approach 2:
The intermediate controller is prepared in advance by receiving control signals from the first controller before the actual switching occurs. This preliminary action allows the intermediate controller to be ready to take over control smoothly, preventing sudden changes and instabilities during the switching process.
2Device complexity
If control is switched directly from the first controller to the second controller, then the switching process is straightforward, but energy losses increase and tyre wear accelerates
Solution Approach 1:
The intermediate controller acts as a mediator that gradually transitions control from the first to the second controller, smoothing out abrupt changes in control signals that would otherwise cause energy losses and increased tyre wear during direct switching.
Solution Approach 2:
The control switching process is made dynamic through the intermediate controller, which continuously adjusts the control signals during the transition period. This dynamic adjustment ensures smooth changes in vehicle operation, preventing energy losses and reducing tyre wear that would occur with abrupt direct switching.
3Ease of operation
If control is switched directly from the first controller to the second controller, then the switching operation is simple, but tyre grip decreases and vehicle safety is compromised
Solution Approach 1:
The intermediate controller serves as a mediator that ensures smooth transitions in control signals, preventing abrupt changes that would compromise tyre grip and vehicle safety while maintaining the ease of operation through automated gradual switching.
Solution Approach 2:
The intermediate controller continuously monitors vehicle operation parameters during the switching process and adjusts control signals based on feedback, ensuring that tyre grip and vehicle safety are maintained throughout the transition from the first to the second controller.
Data Source
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AI summary
A computer-implemented method for switching between a first controller and a second controller for a vehicle, the method comprising, 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 tyre force at at least one tyre associated with the MSD, determining a second tyre force for the at least one tyre 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 tyre 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 tyre force at the at least one tyre.