Dual-Drive Vehicle Torque Control for Straight and Cornering States
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Solution Overview
Problem
Existing vehicle control systems for vehicles with multiple driving sources face complexity in managing straight and cornering states, leading to reduced controllability, especially when these states are mixed, due to the need for separate controls for each state.
Innovation Solution
A vehicle control device and method that utilizes a sum model for straight driving and a difference model for cornering, calculating equivalent sum and difference values to derive instruction torques, allowing precise control of left and right driving sources to achieve target speeds with a simple configuration.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If separate controls are constructed for left and right driving systems to handle straight and cornering states, then the vehicle can deal with different driving states, but the control configuration becomes complex
Solution Approach 1:
The control system is segmented into two independent models: a sum model for straight-running states and a difference model for cornering states. Each model handles specific driving conditions separately, allowing the system to adapt to different states without requiring a single complex unified control configuration.
Solution Approach 2:
The control system dynamically switches between the sum model and difference model based on the detected driving state. The calculator determines whether the vehicle is in straight-running or cornering state and applies the appropriate model, enabling adaptive control without permanent complex configuration for all states.
2Adaptability or versatility
If separate controls are constructed for left and right driving systems, then the vehicle can handle straight and cornering states, but controllability is reduced when states are mixed
Solution Approach 1:
By separating the control into sum model (for straight-running) and difference model (for cornering), the system can independently optimize each model for its specific function. This segmentation allows reliable control in mixed states because each model can be applied selectively based on the dominant driving condition.
Solution Approach 2:
The control parameters change based on the driving state: when straight-running, the sum model parameters are used; when cornering, the difference model parameters are used. This parameter switching enables the system to maintain high controllability and reliability across mixed driving states by adapting to the current state characteristics.
3Device complexity
If a single control model is used for both straight and cornering states, then the configuration is simple, but the control precision decreases for specific driving states
Solution Approach 1:
The control model is segmented into specialized sum model and difference model, each optimized for specific driving states. This segmentation achieves high control precision for straight-running and cornering states respectively, while maintaining relatively simple configuration through the use of two focused models rather than one complex universal model.
Solution Approach 2:
Instead of creating one complex unified model, the system creates two simplified specialized models that copy the essential characteristics of each driving state. The sum model captures straight-running dynamics while the difference model captures cornering dynamics, achieving high precision for each state with simpler individual model structures.
Data Source
AI summary
The disclosed vehicle control device (10) is for controlling outputs of a left driving source and a right driving source, and includes a calculator (21), a storing unit (22), and a controller (23). The calculator (21) calculates an equivalent sum value corresponding to sum of a left target speed and a right target speed, and calculates an equivalent difference value corresponding to a difference between the left target speed and the right target speed. The storing unit (22) stores a sum model and a difference model. The sum model modes motion states of the left driving system, the right driving system, the left driving source, and the right driving source while the vehicle is running straight and is applied with the equivalent sum value to derive a sum instruction torque. The difference model models motion states of the left driving system, the right driving system, the left driving source, and the right driving source while the vehicle is cornering and is applied with the equivalent difference value to derive a difference instruction torque. The controller (23) controls torques of the left driving source and the right driving source, using the sum instruction torque and the difference instruction torque.