Corrective Steering Control for Asymmetric Braking Yaw Compensation
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Solution Overview
Problem
Asymmetrical braking forces during vehicle braking operations create undesirable yaw moments, leading to vehicle instability, which existing systems fail to effectively prevent or minimize without additional cost or complexity.
Innovation Solution
A method and apparatus that detect yaw variables, compare them to predefined limits, and automatically adjust corrective steering angles on vehicle wheels to counteract the yaw moment, using existing vehicle sensors and actuators to maintain stability without driver intervention.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If asymmetrical braking forces are applied to vehicle wheels, then braking effectiveness is improved, but yaw moment and vehicle instability increase
Solution Approach 1:
The system applies a corrective steering angle to the vehicle wheels before the yaw moment can cause significant vehicle instability. By detecting the yaw variable and calculating the corrective steering angle in advance, the system counteracts the asymmetrical braking forces' effect on vehicle stability, allowing effective braking while preventing yaw-induced instability
2Stability of the object's composition
If corrective steering angle is automatically adjusted to compensate yaw moment, then vehicle stability is improved, but system complexity increases
Solution Approach 1:
The control system utilizes existing vehicle components (sensors, actuators, control units) that serve multiple functions. The same sensors used for normal braking control are also used to detect yaw variables, and the same actuators used for steering are used to apply corrective steering angles. This multi-functionality approach improves vehicle stability without significantly increasing system complexity
Solution Approach 2:
The system uses the vehicle's own existing sensors and actuators to detect and compensate for yaw moment. The control system automatically processes the detected yaw variable and adjusts the steering angle without requiring external intervention or additional specialized components, allowing the vehicle system to serve itself in compensating for braking-induced instability
3Measurement precision
If precise chassis geometry knowledge is required for corrective steering calculation, then compensation accuracy is improved, but manufacturing and measurement requirements increase
Solution Approach 1:
The system employs a feedback mechanism where the actual yaw variable is detected and continuously compared with the desired state. The corrective steering angle is calculated based on this feedback and applied to the vehicle wheels. This closed-loop feedback approach compensates for variations in chassis geometry without requiring extremely precise manufacturing, as the system adapts to the actual vehicle configuration through continuous measurement and adjustment
Data Source
AI summary
The disclosure relates to a method for compensating a yaw moment acting on a vehicle which is caused by asymmetrical braking forces on at least one vehicle axle. In the method, at least one vehicle-related condition is queried after initiation of a braking operation, a yaw variable present on the vehicle is detected, the value of the detected yaw variable is compared with a yaw variable limit value, a corrective steering angle is determined depending on the difference and/or the change in the difference between the value of the detected yaw variable and the yaw variable limit value, taking into account the sign of the yaw variable, and, lastly, a corrective steering angle is automatically set on at least one vehicle wheel of a steered vehicle axle. The disclosure also relates to an apparatus for compensating a yaw moment acting on a vehicle.