Four-Wheel Steering Yaw Control to Reduce Motion Sickness
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Solution Overview
Problem
Existing methods for influencing vehicle movement do not effectively address the reduction of yaw movement-induced discomfort and kinetosis-related symptoms in occupants, particularly in automated driving scenarios.
Innovation Solution
A method that adjusts yaw movement of the vehicle using combined actuation of front and rear axle steering, independent of the target vehicle trajectory, to minimize yaw acceleration and jerk, utilizing a computing unit to control the steering system, and considering slip angles and vehicle speed.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If front axle steering and/or rear axle steering is actuated to influence vehicle movement, then vehicle trajectory control is improved, but yaw acceleration and yaw jerk increase causing occupant discomfort and kinetosis
Solution Approach 1:
The patent applies dynamics by making the steering system adaptive and adjustable in real-time. The front and rear axle steering angles are dynamically modified based on detected vehicle motion parameters (yaw rate, lateral acceleration) to optimize the compromise between trajectory tracking and occupant comfort. This dynamic adjustment allows the system to respond to changing driving conditions and minimize harmful yaw movements while maintaining effective trajectory control.
Solution Approach 2:
The patent changes steering parameters (front and rear axle steering angles) to achieve the desired effect. By modifying these steering parameters in response to detected yaw motion, the system reduces yaw acceleration and jerk. The control unit adjusts the steering parameters to create a counteracting steering moment that compensates for harmful yaw movements while preserving the overall trajectory control performance.
2Object-affected harmful factors
If combined front and rear axle steering is used to adjust yaw movement independently of target trajectory, then yaw acceleration and jerk are reduced, but trajectory tracking precision may be compromised
Solution Approach 1:
The patent applies partial action by introducing only the necessary steering corrections to reduce yaw motion without completely deviating from the target trajectory. The control unit calculates steering angle modifications that are sufficient to mitigate harmful yaw effects but do not excessively alter the intended path. This partial correction approach maintains acceptable trajectory tracking while achieving the comfort improvement.
Solution Approach 2:
The patent uses the steering system as an intermediary between the target trajectory and the actual vehicle motion. The front and rear axle steering act as mediating elements that can introduce corrective yaw moments to reduce harmful motions. The control unit mediates between trajectory tracking requirements and comfort requirements by adjusting steering angles to achieve an optimal balance, using the steering system as an intermediary mechanism to reconcile these conflicting demands.
Data Source
AI summary
A method for influencing a vehicle movement of a vehicle, in particular a motor vehicle, wherein the vehicle comprises a steering system having a front axle steering and a rear axle steering, and wherein the vehicle movement is influenced in at least one driving state by an actuation of the front axle steering and/or the rear axle steering. In the driving state, a yaw movement of the vehicle is adjusted by a combined actuation of the front axle steering and the rear axle steering in such a way that the yaw movement is at least partially independent of a target vehicle trajectory and a yaw acceleration and/or yaw jerk is reduced.