Integrated EPS-ESC Control for Autonomous Vehicle Lateral Stability
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Solution Overview
Problem
Current automotive electronic safety systems for autonomous vehicles lack an integrated solution for coordinating steering and stability control, which is essential for maintaining lateral dynamics and preventing instability during autonomous driving.
Innovation Solution
The integration of Electric Power Steering (EPS) and Electronic Stability Control (ESC) systems to synergistically control the lateral dynamics of autonomous vehicles, where EPS interventions consider ESC actions, enhancing stability and steering control without altering the ESC logical architecture initially, and rethinking both architectures for advanced embodiments.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If EPS and ESC systems operate independently, then each system can be simpler and easier to manufacture, but the overall system cannot effectively coordinate steering and stability control interventions
Solution Approach 1:
The patent merges the EPS and ESC systems into an integrated lateral dynamics control system where the EPS control unit and ESC control unit communicate and coordinate their interventions. The EPS system considers ESC actions when determining steering interventions, and the ESC system can adjust brake commands based on EPS steering actions, creating a unified control approach that improves reliability without requiring complete architectural redesign
Solution Approach 2:
The integrated control system enables the EPS and ESC subsystems to serve multiple functions simultaneously. The EPS system not only provides power steering assistance but also coordinates with stability control. The ESC system not only provides stability control through braking but also adapts to steering interventions from EPS. This multi-functionality improves overall system effectiveness while leveraging existing components
2Reliability
If EPS interventions consider ESC actions, then steering control and stability control are better coordinated, but the computational complexity and processing time increase
Solution Approach 1:
The system performs preliminary assessments of the relationship between steering and stability control requirements. The EPS control unit evaluates whether intended steering interventions may conflict with stability control objectives before executing commands. This preliminary check prevents unnecessary recalculations and ensures coordinated action without significant time delays
Solution Approach 2:
The integrated control system implements continuous feedback loops where the EPS control unit monitors ESC brake commands and adjusts steering interventions accordingly, while the ESC control unit monitors EPS steering actions and modifies brake commands as needed. This feedback mechanism ensures real-time coordination while maintaining efficient processing through iterative refinement rather than complete recalculation
Data Source
AI summary
An automotive electronic lateral dynamics control system of an autonomous motor vehicle, comprising a lateral driving path planner designed to plan a lateral driving path of the autonomous motor vehicle and defined by a reference curvature of the autonomous motor vehicle; an automotive electronic driving stability control system designed to control an automotive braking system to apply to the autonomous motor vehicle a yaw torque to hinder a driving instability condition of the autonomous motor vehicle; and an automotive electronic steering control system designed to control an automotive steering system to apply to the autonomous motor vehicle a steering angle or torque to cause the autonomous motor vehicle to follow the lateral driving path planned by the lateral driving path planner. The automotive electronic lateral dynamics control system is designed to cause an intervention of the automotive electronic steering control system to take account of an intervention of the automotive electronic driving stability control system.