Predictive Wheel Torque Control for Integrated Vehicle Motion
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Solution Overview
Problem
Conventional vehicle motion control systems separate the tasks of steering and maintaining the vehicle on course, lacking a holistic approach that combines these aspects synergistically. Additionally, these systems rely on reactive feedback control without proactive prediction capabilities.
Innovation Solution
A method for controlling vehicle motion that involves obtaining input information on vehicle velocity, computing a future trajectory based on trial torques applied to the wheels, and optimizing this trajectory to achieve a target vehicle motion, thereby determining and applying target trial torques.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If conventional separate control systems are used for steering and vehicle course maintenance, then the system structure is simple and modular, but the synergistic capabilities of combining various aspects of vehicle motion cannot be realized
Solution Approach 1:
The patent merges the steering control and vehicle course maintenance control into a single integrated control system. The controller receives steering commands and combines them with vehicle state information (yaw rate, lateral acceleration, wheel speeds) to compute optimized torque commands for all four wheels simultaneously, enabling synergistic control of both steering and course maintenance functions.
Solution Approach 2:
The integrated control system performs multiple functions: it executes steering commands, maintains vehicle course, prevents skidding, and optimizes vehicle trajectory. By using a unified controller that processes steering inputs and vehicle state data to generate coordinated torque commands for all wheels, the system achieves multi-functionality without requiring separate dedicated systems for each control aspect.
2Reliability
If feedback control based on past data is used, then the control implementation is straightforward, but there is no proactive aspect to include predictions about future vehicle trajectory
Solution Approach 1:
The control system performs preliminary computation of optimal torque commands by evaluating vehicle dynamics models and predicting future vehicle states based on current steering commands and vehicle state. The controller proactively adjusts wheel torques before deviations occur by computing optimal control actions that anticipate future trajectory requirements, rather than merely reacting to past errors.
Solution Approach 2:
The system continuously receives feedback from vehicle state sensors (yaw rate, lateral acceleration, wheel speeds) and uses this information to update the vehicle dynamics model and recalculate optimal torque commands. This closed-loop feedback mechanism ensures that the proactive control actions remain aligned with actual vehicle behavior and external disturbances.
Data Source
AI summary
A method for controlling motion of a vehicle, the method comprising the steps of: obtaining input information on a vector related to the velocity of said vehicle; computing repeatably a future trajectory of said vehicle based on said input information and trial torques to be applied to at least one wheel of said vehicle for optimizing said future trajectory in view of a target vehicle motion, thereby obtaining target trial torques; and applying the obtained target trial torques to the at least one wheel for controlling the motion of said vehicle.