Coordinated Steering and Braking for Stable Vehicle Yaw Control
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Solution Overview
Problem
Existing vehicle motion control systems for autonomous driving primarily rely on steering-based counter-yaw moments, which can lead to inadequate course traceability and behavior stability due to the generation of lateral forces, limiting the effectiveness of vehicle stabilization control.
Innovation Solution
A vehicle motion control system that integrates a control unit to acquire necessary motion state amounts from both the target traveling path and vehicle state, generating both steering and brake moments to achieve stable yaw moments, thereby ensuring course traceability and behavior stability through balanced control commands for the steering and brake apparatus.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If counter-yaw moment is generated based on steering only, then vehicle stabilization control is simplified, but course traceability and behavior stability cannot be achieved simultaneously
Solution Approach 1:
The patent combines steering control and brake control into a unified motion control system. The control unit integrates both steering apparatus and brake apparatus to generate yaw moments through coordinated action of steering angle moments and brake moments, achieving synergistic effect that resolves the contradiction between simplified control and reliable performance.
Solution Approach 2:
The patent changes the control parameters from steering-only to dual parameters of steering angle and brake force. By calculating target steering angle and target brake force separately and then integrating them, the system achieves precise control of yaw moment while maintaining course traceability and behavior stability.
2Force
If steering-based counter-yaw moment is used, then lateral force is generated, but both course traceability and behavior stability may not be achieved
Solution Approach 1:
The patent segments the yaw moment generation into two independent components: steering angle moment and brake moment. The control unit calculates target steering angle for steering control and target brake force for brake control separately, then integrates them to achieve the necessary yaw moment without excessive lateral force generation.
Solution Approach 2:
The control unit acts as an intermediary that coordinates between steering apparatus and brake apparatus. It calculates and integrates the moments from both systems to generate the required yaw moment, mediating the interaction between steering and braking to achieve stable vehicle behavior.
Data Source
AI summary
A vehicle motion control apparatus includes a control unit which controls a steering apparatus and a brake apparatus provided in a vehicle. The control unit acquires a normative motion state amount necessary for the vehicle to trace a target traveling path, acquires a target motion state amount necessary for generating a yaw moment to cancel unstable behavior of the vehicle, and acquires a target steering angle for generating a steering angle moment and a target brake force for generating a brake moment, to obtain a necessary yaw moment generated by the vehicle. The control unit outputs a first control command for obtaining the target steering angle to the steering apparatus and outputs a second control command for obtaining the target brake force to the brake apparatus.