Steering Handle Stabilization Torque for Low-Speed Vehicle Balance
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Solution Overview
Problem
Existing vehicle stabilization systems face challenges in providing accurate and precise steering support at low speeds, often requiring high steering forces and complex sensor configurations, which can lead to rider fatigue and increased costs due to the complexity and cost of multiple sensors used to determine balancing torque.
Innovation Solution
A system comprising sensors for vehicle speed, roll angle, and roll rate, along with a stabilizing unit that calculates a synthesized torque and applies a stabilizing torque to the steering handle, mimicking rider input while ensuring stability and comfort, using gain values derived from vehicle specifications and delay times to improve lead time and reduce sensor complexity.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If multiple sensors (yaw rate sensors, roll rate sensors, acceleration sensors, force sensors) are used to detect dynamic vehicle parameters for determining stabilizing torque, then the accuracy of stabilizing torque calculation is improved, but the device complexity and manufacturing cost increase
Solution Approach 1:
The patent extracts and eliminates unnecessary sensors from the system. Specifically, it removes yaw rate sensors, roll rate sensors, and acceleration sensors that were previously required, keeping only the steering torque sensor and inertial measurement unit. This extraction maintains measurement precision by focusing on the most critical parameters while reducing device complexity and cost.
Solution Approach 2:
The inertial measurement unit serves multiple functions: it detects roll angle, roll rate, and vehicle acceleration simultaneously. This multi-functionality replaces what would otherwise require separate sensors, thereby maintaining measurement accuracy while reducing the overall number of components and simplifying the system architecture.
2Stability of the object's composition
If yaw rate parameters are used for determining stabilizing torque at low speeds, then vehicle stability is improved, but the lead time for steering torque application is reduced, hampering rider intervention
Solution Approach 1:
The patent applies preliminary action by using roll angle and roll rate parameters that provide earlier indication of vehicle instability compared to yaw rate parameters. The stabilizing torque is calculated and applied based on these leading indicators, giving the rider more time to intervene if needed while still achieving the stability effect at low speeds.
Solution Approach 2:
The patent changes the parameters used for stabilizing torque calculation from yaw rate-based to roll angle and roll rate-based parameters. This parameter change increases the lead time for steering torque application while maintaining vehicle stability, as roll parameters respond more quickly to instability conditions than yaw rate parameters.
3Stability of the object's composition
If conventional stabilizing systems apply additional steering forces based on multiple dynamic parameters, then vehicle balancing is improved, but rider fatigue increases due to rapid steering movements and high steering forces
Solution Approach 1:
The patent implements feedback by continuously monitoring the steering torque applied by the rider and comparing it with the calculated stabilizing torque. The system adjusts the additional steering force based on this feedback, providing support only when needed and reducing rider effort during normal operation, thereby decreasing fatigue while maintaining vehicle balancing.
Solution Approach 2:
The stabilizing system provides self-service by automatically calculating and applying the required stabilizing torque based on sensor inputs without requiring rider intervention. The system monitors vehicle parameters and rider steering torque, and autonomously adjusts the steering assistance, reducing the cognitive and physical load on the rider while maintaining vehicle stability.
Data Source
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AI summary
Aspects of stabilizing a vehicle are described. A vehicle speed (v), a roll angle (φ), and a roll rate (φ̇) of the vehicle are determined. Gain values (Gi, G2) are determined respectively for the roll angle (φ) and the roll rate (φ̇) based on the vehicle speed (v); and a stabilizing torque (Ts) is determined based on application of respective gain values (G1, G2) to the roll angle (φ) and the roll rate (φ̇). In one example, a tuning parameter may be determined based on a comparison of a synthesized torque (T) with a steering torque (Tr) and may be additionally used to determine the stabilizing torque (Ts). An actuating signal corresponding to a stabilizing torque (Ts) to be applied to a steering handle of the vehicle by the actuator is provided to an actuator for stabilizing the vehicle.