Torque Vectoring Control for Road Bank Drift Compensation
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Solution Overview
Problem
Existing vehicle steering control methods fail to effectively compensate for road banking, leading to undesired lateral drift and jerky sensations in both human-driven and autonomous vehicles, particularly in heavy-duty vehicles with non-zero understeer/oversteer gradients.
Innovation Solution
A computer-implemented method using torque vectoring to apply compensation torques across vehicle wheels based on road bank angle and vehicle models, anticipating and reducing lateral drift proactively without relying on reactive measurements.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If feedback control methods are used to compensate for road banking, then lateral drift compensation is achieved, but the vehicle motion becomes jerky and less predictable
Solution Approach 1:
The patent applies feedforward control by calculating and applying compensation torque based on anticipated road banking conditions before the vehicle encounters them. The system uses a vehicle model with understeer/oversteer gradient to predict the required torque adjustment, eliminating the jerky motion associated with reactive feedback control while maintaining effective lateral drift compensation
2Reliability
If steering wheel is directly connected to wheels and wheels are turned to compensate for road banking, then lateral drift is reduced, but the driver experiences noticeable and jerky motion
Solution Approach 1:
The patent replaces mechanical steering wheel-to-wheel connection-based compensation with torque vectoring through the drivetrain. By applying differential torque to the wheels based on road banking angle and vehicle model predictions, the system achieves lateral drift compensation without requiring physical steering wheel movement, thereby eliminating the jerky sensation transmitted to the driver
3Reliability
If reactive control based on lateral movement measurements is used, then compensation for occurred drift is achieved, but the control response is delayed and jerky
Solution Approach 1:
The system uses feedforward control to calculate and apply compensation torque before lateral drift occurs, based on predicted road banking conditions and vehicle model parameters. This eliminates the time delay inherent in reactive measurement-based control systems while maintaining accurate drift compensation through proactive torque adjustment
Data Source
AI summary
A computer-implemented method for reducing a lateral drift of a heavy-duty vehicle due to a road bank angle, where the heavy-duty vehicle is associated with a non-zero understeer/oversteer gradient. The method comprises obtaining a road bank angle of a road section the heavy-duty vehicle is about to traverse; obtaining a vehicle model indicative of a vehicle motion response to the road bank angle, where the vehicle model includes the understeer/oversteer gradient; determining, based on the road bank angle and the vehicle model, a first compensation torque for reducing the lateral drift of the heavy-duty vehicle at the road section; and applying the first compensation torque across different wheels of the heavy-duty vehicle to reduce the lateral drift of the heavy-duty vehicle due to the road bank angle.