Vehicle Path Tracking Control with Yaw Moment Stability Feedback

Solution Overview

Problem

Intelligent electric vehicles face stability issues during path tracking, particularly in emergency obstacle-avoiding situations, leading to potential accidents due to violent lateral movements and deviations from the expected trajectory.

Innovation Solution

A path tracking control method that determines the lateral stability state of the vehicle and adjusts front wheel steering and yaw moment increments based on stability states, using objective functions and reinforcement learning algorithms to maintain stability and accuracy.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Speed

If path tracking control is performed with high speed and large steering angle during emergency obstacle avoidance, then the vehicle can quickly avoid obstacles, but the lateral movement becomes violent causing vehicle destabilization

Engineering Contradiction:

Improvevehicle speedVSAvoidvehicle lateral stability

Core Design Contradiction:

SpeedVSStability of the object's composition

Solution Approach 1:

The control method dynamically adjusts the additional yaw moment based on real-time vehicle stability states (stable, critical-destabilized, destabilized). When the vehicle enters a critical or destabilized state during emergency avoidance, the system automatically modifies the yaw moment to counteract violent lateral movements, thereby maintaining stability while allowing high-speed operation

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The system continuously monitors vehicle stability states through sensors and feedback loops. Based on the detected stability state, the control method adjusts the additional yaw moment in real-time, creating a closed-loop control system that prevents destabilization during high-speed emergency maneuvers

Inventive Principle:

Principle #23Feedback

2Stability of the object's composition

If additional yaw moment control is applied to maintain vehicle stability, then vehicle destabilization is prevented, but path tracking accuracy deteriorates due to violent swing movements

Engineering Contradiction:

Improvevehicle lateral stabilityVSAvoidtrajectory tracking accuracy

Core Design Contradiction:

Stability of the object's compositionVSManufacturing precision

Solution Approach 1:

The control method dynamically adjusts the additional yaw moment based on real-time vehicle stability states (stable, critical-destabilized, destabilized). When the vehicle enters a critical or destabilized state during emergency avoidance, the system automatically modifies the yaw moment to counteract violent lateral movements, thereby maintaining stability while allowing high-speed operation

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The system continuously monitors vehicle stability states through sensors and feedback loops. Based on the detected stability state, the control method adjusts the additional yaw moment in real-time, creating a closed-loop control system that prevents destabilization during high-speed emergency maneuvers

Inventive Principle:

Principle #23Feedback

3Manufacturing precision

If front wheel steering control is used for path tracking, then trajectory following is achieved, but vehicle stability is compromised during emergency obstacle-avoiding states

Engineering Contradiction:

Improvepath tracking accuracyVSAvoidvehicle lateral stability

Core Design Contradiction:

Manufacturing precisionVSStability of the object's composition

Solution Approach 1:

The control method merges path tracking control with stability control by introducing an additional yaw moment controller that works in conjunction with the front wheel steering system. This combined control approach ensures that path tracking accuracy is maintained while vehicle stability is preserved during emergency maneuvers

Inventive Principle:

Principle #5Merging (Combining)

Solution Approach 2:

The control method dynamically adjusts the additional yaw moment based on real-time vehicle stability states (stable, critical-destabilized, destabilized). When the vehicle enters a critical or destabilized state during emergency avoidance, the system automatically modifies the yaw moment to counteract violent lateral movements, thereby maintaining stability while allowing high-speed operation

Inventive Principle:

Principle #15Dynamics

Data Source

PatentUS12109997B2Path tracking control method and device for intelligent electric vehicles

Publication Date: 2024.10.08 CHANGAN UNIV

AI summary

A path tracking control method for an intelligent electric vehicle. The method includes the following steps. A lateral stability state of a vehicle is determined, where the lateral stability state includes a stable state, a critical-destabilized state, and a destabilized state. Path tracking control is performed on the vehicle according to the lateral stability state of the vehicle. This application also provides a path tracking control device for an intelligent electric vehicle, which includes a lateral stability state determination module and a path tracking control module.