Optimal Slip Angle Steering Control for Racing Vehicles
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Solution Overview
Problem
The Ackermann steering geometry does not provide optimal slip angles for tire force maximization for both tires in each corner on a racing track, limiting cornering speed and overall vehicle performance.
Innovation Solution
A control system that splits the control problem into subproblems for optimizing slip angle, using a module to coordinate solutions for localization, state estimation, sensor fusion, and system identification, and implementing a trained model to determine optimal slip angles for each wheel based on environmental and vehicle data.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of manufacture
If Ackermann steering geometry is used, then steering mechanism is simple and widely applicable, but slip angles are not optimal for tire force maximization
Solution Approach 1:
The patent applies dynamics by transitioning from a static Ackermann steering geometry to a dynamic slip angle control system. The system continuously calculates and adjusts slip angles based on real-time vehicle state (speed, acceleration, steering angle) and track conditions, allowing optimal tire force utilization at each moment rather than relying on fixed geometric constraints.
Solution Approach 2:
The patent changes the control parameter from fixed steering angle geometry to dynamic slip angle. By calculating slip angles as a function of vehicle state parameters (longitudinal speed, lateral speed, steering angle) and track characteristics, the system optimizes tire force generation without being constrained by traditional Ackermann geometry.
2Device complexity
If fixed steering geometry is used, then control system is simple, but cannot adapt to varying track conditions and vehicle states
Solution Approach 1:
The system dynamically adapts steering control to varying track conditions by continuously monitoring vehicle state parameters (speed, acceleration, steering angle) and calculating optimal slip angles in real-time. This dynamic adjustment allows the system to handle different track configurations, weather conditions, and vehicle states without requiring complex manual intervention.
Solution Approach 2:
The patent implements feedback control by using sensor data (vehicle speed, steering angle, lateral acceleration) to continuously adjust slip angle calculations. The system feeds back real-time vehicle state information to the control algorithm, enabling adaptive response to changing conditions and optimizing tire force utilization under varying operational parameters.
Data Source
AI summary
Systems and methods for optimizing steering angle of a vehicle. Controlling a vehicle implementing steer-by-wire including independent steering control for a wheel of the vehicle includes collecting environmental information about the vehicle, preparing an ideal steering plan for the vehicle, receiving a vehicle goal, collecting current vehicle information, determining a slip angle for the wheel, and actuating the independent steering control for wheel according to the slip angle.