Steering Angle Hold During Wheel Float for Vehicle Stability
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Solution Overview
Problem
Unintended changes in steering angle during wheel float can lead to vehicle instability due to loss of road surface resistance, especially on uneven terrain.
Innovation Solution
A vehicle control device that determines a wheel floating state and maintains the steering angle to prevent unintended changes, using sensors and actuators to stabilize vehicle behavior.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the wheel is allowed to float freely on the road surface, then the vehicle can adapt to uneven terrain, but unintended changes in steering angle occur causing vehicle instability
Solution Approach 1:
The control device continuously monitors wheel contact status with the road surface and provides feedback control. When wheel float is detected, the system activates maintenance control to keep the steering angle constant, preventing unintended steering changes. This closed-loop feedback mechanism resolves the contradiction by dynamically adjusting steering control based on real-time road contact conditions.
Solution Approach 2:
The steering control system dynamically changes its behavior based on wheel contact status. During normal operation, the steering angle can change freely to adapt to terrain. When wheel float is detected, the system transitions to a maintenance mode where the steering angle is held constant. This dynamic adaptation resolves the contradiction between terrain adaptability and vehicle stability.
2Stability of the object's composition
If the steering angle is maintained constant during wheel float, then vehicle stability is improved, but the ability to respond to actual steering needs is reduced
Solution Approach 1:
The steering control system dynamically switches between two modes: normal mode where steering angle can change freely for responsiveness, and maintenance mode where steering angle is held constant for stability during wheel float. This dynamic mode switching resolves the contradiction by applying constant steering maintenance only when wheel float is detected, preserving steering responsiveness during normal operation.
Solution Approach 2:
The control device detects wheel float conditions in advance and proactively activates constant steering angle maintenance before unintended steering changes can occur. This preliminary anti-action prevents the harmful effect of unintended steering drift during wheel float, resolving the contradiction by preemptively stabilizing the steering angle when needed.
Data Source
AI summary
The present disclosure relates to the control of a steering angle of a vehicle during wheel float. A vehicle control device acquires information indicating the yaw angle of the vehicle. The vehicle control device determines whether a wheel floating state in which one of a plurality of wheels of the vehicle is not in contact with the ground has occurred. When the wheel floating state has occurred, the vehicle control device determines whether a difference between the yaw angle of the vehicle before the occurrence of the wheel floating state and the yaw angle of the vehicle after the occurrence of the wheel floating state is less than or equal to a predetermined value. When the difference is less than or equal to the predetermined value, the vehicle control device maintains the steering angle of the vehicle while the wheel floating state continues.