Flat-Tire Wheel Yaw Compensation for Vehicle Directional Control
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Solution Overview
Problem
Current vehicle flat tire stabilization methods fail to adequately compensate for the yaw moment generated by a flat tire, leading to delayed response in yaw rate and poor control effectiveness, especially at high speeds.
Innovation Solution
A vehicle control method that calculates longitudinal and lateral force interference compensation torques, along with a feedback control torque, to determine an additional yaw moment. This additional yaw moment is then used to control the wheel with the flat tire, improving response time and control accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If only longitudinal force compensation is applied to a flat tire, then the control system remains simple, but the yaw rate response is delayed and control effectiveness is poor
Solution Approach 1:
The compensation torque is segmented into two distinct components: longitudinal force interference compensation torque and lateral force interference compensation torque. This segmentation allows each component to address specific aspects of flat tire effects independently, improving overall control effectiveness while maintaining clear system architecture.
Solution Approach 2:
The control approach transitions from one-dimensional longitudinal force compensation to two-dimensional compensation by adding lateral force interference compensation. This dimensional expansion addresses the previously neglected lateral force effects, significantly improving yaw rate response and control effectiveness.
2Speed
If controller is designed based on normal vehicle parameters, then the control design is straightforward, but the yaw rate response is delayed due to flat tire effects not being considered
Solution Approach 1:
The controller dynamically adjusts the compensation torque based on real-time detection of flat tire conditions. When a flat tire is detected, the system calculates and applies appropriate compensation torques, enabling the controller to adapt its behavior to the degraded vehicle dynamics without requiring a complete redesign.
Solution Approach 2:
The system implements feedback control by continuously monitoring vehicle state and adjusting the compensation torque accordingly. The feedback mechanism detects yaw rate deviations caused by flat tires and automatically applies corrective torques, improving response speed while maintaining manageable controller complexity through adaptive control.
3Ease of operation
If braking moment is applied to wheels without flat tire, then the vehicle can be directed as desired, but the control effect is poor due to inadequate yaw moment compensation
Solution Approach 1:
The compensation torque acts as an intermediary that bridges the gap between driver intent and actual vehicle response during flat tire conditions. By introducing this intermediate control element, the system can achieve better directional control effectiveness without requiring extreme braking interventions on healthy wheels.
Data Source
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Figure 3~4A
Figure 4B
AI summary
Embodiments of this application disclose a vehicle control method and device, where the method includes: calculating a longitudinal force interference compensation torque and a lateral force interference compensation torque of a vehicle when a flat tire occurs in the vehicle; calculating a feedback control torque of the vehicle; determining an additional yaw moment based on the longitudinal force interference compensation torque, the feedback control torque, and the lateral force interference compensation torque; and controlling, based on the additional yaw moment, a wheel in which the flat tire occurs. According to the embodiments of this application, a yaw moment generated by the flat tire can be quickly compensated, and a yaw degree of the vehicle can be reduced, so that the vehicle travels in the direction as desired by the driver.