Vehicle Steering Control Using Wheel Drift Dynamics
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Solution Overview
Problem
Existing vehicle steering control systems rely on static parameters that do not accurately represent the dynamic behavior of the vehicle, leading to inefficiencies in controlling the chassis and affecting lateral stability and responsiveness.
Innovation Solution
A steering control device that utilizes a lateral dynamic behavior model incorporating specific drifts of each wheel set, allowing for differentiated braking and steering control of individual wheels to enhance chassis performance by considering dynamic parameters such as wheelbase, mass distribution, and inertia distribution.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If a conventional dynamics bicycle model with static parameters is used, then the control system is simple to implement, but the lateral dynamic behavior and trajectory control accuracy deteriorate
Solution Approach 1:
The patent transforms the conventional static parameter model into a dynamic model by introducing time-varying parameters including specific drifts of front and rear wheels, vertical loads on each wheel, and vehicle speed. This allows the control system to adapt to changing driving conditions while maintaining computational feasibility through structured parameter organization.
Solution Approach 2:
The invention replaces the static bicycle model with a dynamic lateral behavior model that explicitly accounts for temporal variations in vehicle state. The model incorporates dynamic parameters such as specific drifts that vary with vertical load and speed, enabling accurate representation of lateral dynamic behavior under different operating conditions.
2Ease of manufacture
If static parameters are used in the vehicle model, then the model is simple to adjust during development, but the representation of actual dynamic behavior deteriorates
Solution Approach 1:
The patent introduces a hierarchical parameter structure where static geometric parameters (wheelbase, track width) remain fixed for ease of setup, while dynamic parameters (specific drifts, vertical loads, speeds) are continuously measured and updated. This separation maintains ease of model configuration while accurately representing dynamic behavior through real-time parameter updates.
Solution Approach 2:
The model structure is pre-configured with static geometric parameters and measurement channels during vehicle development, allowing rapid setup. The dynamic parameters are then automatically populated during operation through sensor measurements, eliminating the need for complex trial-and-error adjustments while capturing actual dynamic behavior.
3Measurement precision
If specific drifts of each wheel set are incorporated into the model, then the lateral dynamic behavior accuracy is improved, but the device complexity increases
Solution Approach 1:
The patent segments the vehicle model into distinct components: front wheel specific drifts, rear wheel specific drifts, vertical loads on each wheel, and yaw rate. This segmentation allows each parameter to be calculated or measured independently using dedicated sensors and formulas, reducing overall system complexity while maintaining high accuracy in lateral dynamic behavior representation.
Solution Approach 2:
The control system uses a unified dynamic model framework that handles both steering control and braking control through the same set of parameters (specific drifts, vertical loads, yaw rate). This multi-functional approach avoids duplicating model structures for different control functions, thereby reducing complexity while achieving accurate lateral dynamic behavior representation for multiple control purposes.
Data Source
AI summary
A steering control device is configured to control a steering of a vehicle having at least one piloted actuator associated with a system for steering a wheel of the vehicle and a piloted actuator associated with a decoupled braking system at a wheel of the vehicle. The steering control device includes at least one control unit. The control unit is configured to recover at least one value characteristic of the travel of the vehicle and to issue a control instruction to the at least one piloted actuator according to the recovered value(s). The control unit includes a calculation module in which a model of a lateral dynamic behavior of the vehicle frame is implemented. At least one specific physical quantity of the lateral dynamic behavior is expressed according to the specific drifts of each set of front wheels and rear wheels of the vehicle.