Driving Torque Control for Pitch, Acceleration, and Jerk
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Solution Overview
Problem
Existing vehicle control systems fail to effectively address longitudinal acceleration and jerk in addition to pitch motion when traversing uneven roads, leading to decreased ride comfort.
Innovation Solution
A control method and apparatus that optimally adjusts driving torque to minimize pitch motion, longitudinal acceleration, and jerk by using a combination of a pitch motion reduction, and a jerk, and a jerk, through an objective function-based approach, including a pitch rate estimation unit, driving torque candidate generation, and a final torque determination using optimal control theory.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If proportional gain control (P control) is used to reduce pitch motion, then pitch motion is reduced, but longitudinal acceleration and jerk are not controlled, resulting in decreased ride comfort
Solution Approach 1:
The control objective is segmented into three separate objective functions: pitch motion reduction, longitudinal acceleration reduction, and jerk reduction. Each objective function independently addresses one aspect of ride comfort, allowing the system to optimize each parameter separately while maintaining overall balance through weighted summation.
Solution Approach 2:
The control approach transitions from single-dimensional pitch motion control to multi-dimensional control by incorporating longitudinal acceleration and jerk as additional control dimensions. This is achieved by formulating a composite objective function that includes terms for pitch rate, longitudinal acceleration, and jerk, thereby expanding the control space to simultaneously address multiple ride comfort parameters.
2Reliability
If driving torque is increased to control pitch motion, then pitch motion control effectiveness improves, but longitudinal acceleration and jerk increase, negatively affecting ride comfort
Solution Approach 1:
The control system dynamically adjusts driving torque by evaluating multiple candidate torques and selecting the optimal one that minimizes the composite objective function. This dynamic selection process considers the current vehicle state and road conditions, allowing the system to adaptively balance pitch motion control effectiveness with longitudinal acceleration and jerk control in real-time.
Solution Approach 2:
The system changes control parameters by introducing weight coefficients (w1, w2, w3) that adjust the relative importance of pitch motion, longitudinal acceleration, and jerk in the objective function. These parameter changes allow flexible tuning of the control strategy to prioritize different ride comfort aspects based on driving conditions and vehicle characteristics.
Data Source
AI summary
In one aspect, an apparatus for control of a driving torque for smooth riding on an uneven road is provided that comprises a pitch motion reduction objective function, a longitudinal acceleration reduction objective function, and a jerk reduction objective function are calculated using an acceleration value and a jerk constraint of a vehicle, and weights are reflected in these objective functions to calculate a final driving torque and applied to the vehicle, thereby reducing pitch motion, longitudinal acceleration, and jerk.