Automatic Steering Control for Uncoupled Vehicle Stabilizers
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Solution Overview
Problem
Existing collision avoidance systems in vehicles with clutch-type stabilizers fail to effectively guide the vehicle along a target trajectory for obstacle avoidance when at least one stabilizer is in an uncoupled state, leading to changes in steer characteristics and potential instability.
Innovation Solution
A control unit calculates a target control amount based on the steer characteristic of the vehicle when at least one stabilizer is uncoupled, adjusting the automatic steering device to maintain stability and guide the vehicle along the target trajectory, and issues an alarm if both stabilizers are uncoupled.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the stabilizers are in an uncoupled state to improve riding comfort on bad roads, then the steer characteristic of the vehicle changes, but the vehicle cannot follow the target trajectory for collision avoidance
Solution Approach 1:
The control unit dynamically adjusts the target steering angle based on the stabilizer coupling state. When uncoupled, the system calculates a corrected target steering angle that compensates for the changed steer characteristics, allowing the vehicle to maintain trajectory tracking accuracy despite the altered stabilizer configuration
Solution Approach 2:
The system changes the control parameter (target steering angle) based on the stabilizer state. By detecting whether stabilizers are coupled or uncoupled, the control unit selects appropriate steering characteristics and calculates corresponding target steering angles, thereby adapting the collision avoidance control to the current vehicle dynamics
2Ease of operation
If the stabilizers are uncoupled to improve ride comfort, then steering stability deteriorates, but the automatic steering device continues to operate with fixed target steering angles
Solution Approach 1:
The control unit continuously monitors the stabilizer coupling state and uses this feedback to adjust the target steering angle calculation. When uncoupled stabilizers are detected, the system activates a different calculation mode that accounts for the altered steering characteristics, thereby maintaining stability
3Adaptability or versatility
If the vehicle uses clutch-type stabilizers that can be uncoupled for comfort, then the relationship between steering angle and turning radius changes, but the collision avoidance system uses fixed relationships
Solution Approach 1:
The system dynamically selects the appropriate steering characteristic model based on stabilizer state. When uncoupled, it uses steering characteristics specific to the uncoupled state, ensuring the relationship between steering angle and turning radius accurately reflects the current vehicle dynamics for precise trajectory tracking
Data Source
AI summary
A collision avoidance support device that is applied to a vehicle equipped with clutch-type front and rear stabilizers controlled in coupled and uncoupled states and an automatic steering device, and comprises a control unit that is configured to, when it is determined that a collision with an obstacle in front of the vehicle needs to be avoided, calculate a target control amount for causing the vehicle to run along a target trajectory for avoiding the collision and control the automatic steering device based on the target control amount, and the control unit is further configured to, when it is determined that a collision needs to be avoided in a situation in which at least one of the stabilizers is in the uncoupled state, calculate a target control amount for causing the vehicle to run along the target trajectory based on a steer characteristic of the vehicle at that time.