Vehicle Dynamics Control via Heading Error Derivative
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Solution Overview
Problem
Current vehicle dynamics control systems are unable to accurately control vehicle body slip angle, especially in highly-autonomous driving vehicles, due to simplified algorithms and sensor tolerances, leading to instability during sudden changes in road conditions or driving direction.
Innovation Solution
A vehicle dynamics control system equipped with multiple sensors (radar, LIDAR, cameras) and an electronic controller that determines a target travel direction, calculates heading error and its derivative, and generates vehicle control commands to correct the vehicle's path, using this information to apply correcting yaw torque through the braking and steering systems.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If simplified algorithms and sensor data are used to determine vehicle stability, then the system complexity is reduced, but the measurement precision of vehicle body slip angle deteriorates
Solution Approach 1:
The patent introduces an intermediary variable called 'heading error' that is derived from reliable sensor measurements (yaw rate, steering angle, vehicle velocity) rather than directly measuring the problematic body slip angle. This heading error serves as a mediator that captures vehicle directional deviation without suffering from the accumulation errors of simplified algorithms, thereby resolving the contradiction between system simplicity and measurement precision.
2Reliability
If current VDC systems limit the increase of vehicle body slip angle, then some stability is maintained, but the vehicle cannot be controlled to a particular body slip angle, leading to instability under sudden changes
Solution Approach 1:
The patent implements a feedback control mechanism where the heading error and its derivative are continuously monitored and used to generate corrective control commands. The derivative of heading error provides information about the rate of change of directional deviation, enabling the system to respond proactively to sudden changes in driving conditions. This feedback loop allows the vehicle to be actively controlled to maintain a desired heading rather than merely limiting slip angle increase, thereby improving both reliability and adaptability.
Data Source
AI summary
Systems and methods for controlling a vehicle. The system includes a plurality of sensors and an electronic controller. The electronic controller is configured to receive data from the plurality of sensors and determine a target vehicle travel direction of the vehicle based on the received data. The electronic controller then determines a heading error based on the target travel direction, determines a heading error derivative, and generates a vehicle control command based on the heading error and the heading error derivative.