Torque Vectoring Vehicle Motion Control for Driver Intent
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Solution Overview
Problem
Advanced Driving Assist Systems (ADAS) do not effectively consider driver intent and load transfer when making steering adjustments, leading to inadequate vehicle maneuvering capabilities, such as slower or less sharp turns than desired by the driver.
Innovation Solution
The implementation of torque vectoring in vehicle motion control systems that identify both the actual and desired vehicle paths, calculate errors, and apply torque vectoring to align the vehicle with the desired path while considering load transfer and normal tire forces to ensure safe and enjoyable driving experiences.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If traditional steering control is used without torque vectoring, then vehicle control simplicity is maintained, but vehicle maneuverability and responsiveness to driver intent deteriorate
Solution Approach 1:
The patent combines traditional steering control with torque vectoring control into a unified vehicle motion control system. The steering control module processes driver intent from the steering wheel, while the torque vectoring control module independently calculates torque distribution based on the same driver intent and vehicle state. These two control modules work simultaneously to achieve both simple steering operation and enhanced maneuverability through differential torque application to left and right wheels.
2Speed
If torque vectoring is applied without considering load transfer, then lateral movement response is improved, but vehicle stability and safety deteriorate
Solution Approach 1:
The patent implements a feedback mechanism where the vehicle state detection module continuously monitors actual vehicle parameters including lateral acceleration, yaw rate, and wheel loads. This detected state is fed back to both the steering control module and torque vectoring control module to dynamically adjust their control actions. The torque vectoring control specifically uses load transfer information to modulate torque distribution, ensuring that lateral movement commands are adjusted according to actual vehicle stability conditions, thus maintaining safety while achieving responsive maneuvering.
3Speed
If aggressive torque vectoring is applied to achieve sharper turns, then vehicle maneuverability is improved, but tire force saturation and loss of control deteriorate
Solution Approach 1:
The patent applies torque vectoring as a supplementary control action rather than the primary control mechanism. The torque vectoring control module calculates torque distribution that complements the steering control, providing only the necessary additional lateral force to achieve desired path tracking. By using torque vectoring partially (only when needed to correct path deviations) rather than excessively (continuous maximum torque application), the system achieves sharper turns without saturating tire forces or causing loss of control.
Data Source
AI summary
A method includes identifying an actual path and a desired path for a vehicle, where the actual path represents an expected path for the vehicle based on current operation of the vehicle and the desired path represents an estimated path that a driver of the vehicle wants to follow. The method also includes identifying one or more errors between the actual path and the desired path. The method further includes determining how to apply torque vectoring to cause the vehicle to more closely follow the desired path based on the one or more errors. In addition, the method includes applying the torque vectoring to create lateral movement of the vehicle during travel.