Vehicle Steering Control Using Vertical Force Segmentation
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Solution Overview
Problem
Current vehicle steering systems, such as motor-driven power steering (MDPS) and steer-by-wire (SBW), fail to consider vertical forces acting on wheels during turning, leading to decreased turning stability and riding comfort due to the neglect of road gradients and unevenness.
Innovation Solution
An apparatus and method that calculates a target steering angle by detecting vehicle traveling states and specification information, including vertical forces on wheels, to ensure the target yaw parameter is secured, using a processor to calculate vertical forces and a control effectiveness matrix, and adjusting actuator operations to optimize steering based on these calculations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If steering control is based only on lateral force, then the control system is simple, but turning stability and riding comfort deteriorate
Solution Approach 1:
The patent segments the vehicle dynamics into separate lateral force and vertical force components. The processor calculates vertical forces on left and right wheels independently, then combines them with lateral forces to determine the final target steering angle. This segmentation allows the system to account for multiple force components without requiring a complete redesign of the control architecture.
Solution Approach 2:
The patent transitions from a one-dimensional control approach (lateral force only) to a two-dimensional approach by adding vertical force consideration. The control system now operates in an expanded parameter space that includes both lateral and vertical force dimensions, enabling more comprehensive steering control that accounts for road gradients and unevenness.
2Device complexity
If steering control considers only lateral force, then calculation is simple, but target yaw parameter cannot be secured
Solution Approach 1:
The calculation process is segmented into distinct steps: first calculating vertical forces on individual wheels, then determining force transfer between wheels, and finally computing the target steering angle that satisfies the target yaw parameter. This segmented approach makes the complex calculation more manageable and reliable.
Solution Approach 2:
The system uses feedback from multiple sensors (angular sensor for steering angle, vehicle speed sensor, torque sensor) to continuously monitor vehicle state and adjust the target steering angle calculation. This feedback mechanism ensures that the target yaw parameter is maintained despite variations in vertical forces caused by road conditions.
3Device complexity
If vertical forces are not considered, then control computation is simple, but riding comfort decreases
Solution Approach 1:
The control computation is divided into modular segments: vertical force calculation based on vehicle state and specifications, force transfer calculation between wheels, and final steering angle determination. This modular segmentation reduces computational complexity by breaking down the problem into manageable sub-tasks that can be executed sequentially.
Solution Approach 2:
The system performs preliminary calculations of vertical forces and force transfers before determining the final steering angle. By pre-calculating these intermediate parameters, the system reduces the computational burden during real-time control and improves riding comfort through more accurate steering adjustments.
Data Source
AI summary
An apparatus for controlling a steering of a vehicle according to an aspect of the present invention, the apparatus including: a sensor system configured to detect a traveling state of the vehicle; a memory configured to store specification information of the vehicle; and a processor configured to control a turning of the vehicle by calculating a target steering angle corresponding to a target yaw parameter required when the vehicle is turning, wherein the processor is configured to: calculate vertical forces acting on wheels of the vehicle when the vehicle is turning, based on the traveling state and specification information of the vehicle; and calculate a final target steering angle based on the calculated vertical forces to ensure that the target yaw parameter is secured.