Vehicle Steering Control for Trailer Wobble Suppression
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Solution Overview
Problem
Existing vehicle control devices, particularly for vehicles towing trailers, experience excessive steering angle feedback leading to wobble due to complicated vehicle behavior, which is not adequately addressed by general feedback control systems.
Innovation Solution
A vehicle control device equipped with sensors to measure yaw rate and steering angle, incorporating feedforward and feedback control mechanisms, includes a wobble determination unit to correct the feedback steering angle based on lateral position variations, reducing its variation amount to suppress wobble.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If feedback control is applied to control steering angle based on lateral position and yaw angle deviations, then steering accuracy is improved, but vehicle wobble occurs due to excessive feedback variation
Solution Approach 1:
The patent applies dynamics by making the feedback steering angle adjustable based on detected wobble conditions. The control system transitions from a fixed feedback gain to a dynamic gain that adapts to vehicle state, reducing feedback variation when wobble is detected while maintaining accuracy when stable
Solution Approach 2:
The patent changes the parameter of feedback steering angle variation by detecting wobble conditions and adjusting the feedback gain accordingly. When wobble is detected, the system reduces the feedback steering angle variation to suppress wobble, while maintaining normal feedback control when the vehicle is stable
2Stability of the object's composition
If feedback steering angle is reduced to suppress wobble, then vehicle stability is improved, but steering accuracy deteriorates
Solution Approach 1:
The system dynamically adjusts the feedback steering angle based on real-time wobble detection. When wobble is present, the feedback gain is reduced to suppress wobble; when the vehicle is stable, the full feedback gain is applied to maintain steering accuracy. This dynamic adaptation resolves the contradiction between stability and accuracy
3Stability of the object's composition
If correction is applied to feedback steering angle, then wobble is suppressed, but control complexity increases
Solution Approach 1:
The patent uses feedback by continuously monitoring lateral position and yaw angle to detect wobble conditions. The detected wobble information is fed back to the correction unit, which adjusts the feedback steering angle accordingly. This feedback mechanism enables automatic wobble suppression without requiring complex manual intervention
Solution Approach 2:
The control system performs self-service by automatically detecting wobble conditions and adjusting the feedback steering angle without external intervention. The wobble determination unit and correction unit work autonomously to suppress wobble, reducing the need for additional complex control mechanisms
Data Source
AI summary
A vehicle control device according to an embodiment includes a lateral position acquisition unit configured to acquire a lateral position of the vehicle, a feedforward control unit configured to determine a feedforward steering angle corresponding to the target yaw rate, a feedback control unit configured to determine a feedback steering angle, a steering angle determination unit configured to determine a steering angle of the vehicle, a wobble determination unit configured to detect a wobble of the vehicle based on a temporal change in the lateral position of the vehicle, and a correction unit configured to correct the feedback steering angle so that a variation amount with respect to an average value of the feedback steering angle in a most recent certain period becomes small when the wobble of the vehicle is detected by the wobble determination unit.