Electronic Stability Control Oscillation Suppression
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing driving aid control systems experience oscillatory changes in vehicle travel direction, leading to instability due to oscillations in curvature information and assistive torque, which affect the stabilization of vehicle behavior during straight driving.
Innovation Solution
A driving aid control apparatus that includes a first control command value calculator, a straight-driving stabilizing compensator, and a second control command value calculator to calculate a final control command value, suppressing oscillations in the first control command value and improving stability by adjusting the gain based on the steering angle threshold, thereby reducing the impact of oscillations on the final control command.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If feedforward control is used to control assistive torque based on curvature information, then the vehicle can turn in accordance with lane curvature, but oscillatory changes in curvature information cause oscillatory changes in assistive torque, preventing stabilization of vehicle behavior
Solution Approach 1:
A stabilization processing unit is introduced as an intermediary between the feedforward control unit and the steering actuator. This unit detects oscillatory changes in the first control command value (assistive torque from feedforward control) and suppresses them, thereby preventing oscillations in vehicle behavior while maintaining the ability to follow lane curvature.
Solution Approach 2:
The system uses feedback control to detect the actual vehicle position and compare it with the desired lane trajectory. The feedback control unit generates a second control command value that compensates for deviations, and this feedback mechanism also provides information to the stabilization processing unit to further suppress oscillations and stabilize vehicle behavior.
2Ease of operation
If driver fine-tunes steering angle to maintain straight-ahead driving, then the driver can keep the vehicle on course, but this causes oscillatory change in travel direction and curvature information
Solution Approach 1:
The stabilization processing unit acts as an intermediary that filters out high-frequency oscillations in curvature information caused by driver steering adjustments. By suppressing these oscillations before they reach the feedforward control unit, the system maintains measurement precision while preserving the driver's ease of operation in maintaining straight driving.
Data Source
AI summary
An apparatus for performing driving aid control to cause a travel trajectory of a mobile object to follow a setpoint trajectory by transmitting a control command value to a yaw moment controller capable of controlling a yaw moment of the mobile object. In the apparatus, a first control command value calculator is configured to calculate a first control command value used to calculate the control command value. A straight-driving stabilizing compensator is configured to, when the mobile object is driving straight, calculate a first control command compensation value by decreasing the first control command value. A second control command value calculator is configured to calculate a second control command value used to calculate the control command value. A third control command value calculator is configured to calculate a final control command value based on the first control command compensation value and the second control command value.