Torque Vectoring Control for Road Bank Lateral Drift Compensation
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Current steering control methods for vehicles fail to effectively compensate for road banking, leading to unnecessary driver effort and instability in both human-driven and autonomous vehicles, especially on banked roads where lateral movement is undesired.
Innovation Solution
A computer-implemented method using torque vectoring to apply compensation torque across vehicle wheels, based on road bank angle and vehicle model parameters, to proactively reduce lateral drift and yaw rate, thereby improving vehicle stability and reducing jerky feedback to the driver.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If traditional steering control is used on banked roads, then the vehicle follows the road banking naturally, but lateral drift occurs and driver effort increases
Solution Approach 1:
The system uses feedforward control to proactively apply compensation torque based on predicted road banking conditions before the vehicle encounters them. Road profile information is obtained in advance, and the corresponding compensation torque is calculated and applied preemptively to prevent lateral drift before it occurs, eliminating the need for reactive steering adjustments by the driver
Solution Approach 2:
The system dynamically adjusts the compensation torque parameter based on the detected road bank angle and vehicle operating conditions. The torque magnitude and direction are continuously modified to match the varying banking conditions, optimizing the compensation effect while minimizing unnecessary driver effort and maintaining vehicle stability
2Stability of the object's composition
If feedback steering control is used to compensate for road banking, then lateral drift is reduced, but jerky motion occurs
Solution Approach 1:
By using feedforward control based on advance road profile information, the system eliminates the need for feedback mechanisms that cause jerky motion. The compensation torque is determined proactively from predicted road banking conditions rather than reactively from measured lateral drift, providing smooth and continuous correction without the oscillations inherent in feedback control
Solution Approach 2:
The system introduces an intermediary road profile database that mediates between the road conditions and vehicle control. Instead of directly reacting to lateral drift measurements, the control system uses pre-stored road banking information as an intermediary to determine compensation torque, smoothing out the control signal and eliminating jerky feedback motion
3Stability of the object's composition
If torque vectoring is applied to compensate for road banking, then vehicle stability improves, but the control system complexity increases
Solution Approach 1:
The system uses a road profile database as an intermediary to simplify control system complexity. Instead of requiring complex real-time sensors and feedback mechanisms to detect lateral drift, the system relies on pre-stored road banking information, significantly reducing the complexity of the control system while maintaining effective torque vectoring for stability compensation
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The method effectively compensates for road banking without requiring reactive steering adjustments, enhancing vehicle predictability and reducing driver discomfort by applying proactive feedforward control, resulting in smoother and more stable vehicle motion.
Implementation Method 1
A torque vectoring control method for vehicles... applying the first compensation torque across different wheels of the heavy-duty vehicle to reduce the lateral drift
Implementation Method 2
Gravity makes a vehicle move sideways when it is driving on a banked road... obtaining a road bank angle of a road section
Data Source
Figure 1~2
Figure 3~4A
Figure 4B
AI summary
A computer-implemented method for reducing a lateral drift of a heavy-duty vehicle (100) due to a road bank angle (ϕ), where the heavy-duty vehicle is associated with a non-zero understeer/oversteer gradient (Ku). The method comprises: obtaining (S1) a road bank angle (ϕ) of a road section (211) the heavy-duty vehicle (100) is about to traverse; obtaining (S2) a vehicle model indicative of a vehicle motion response to the road bank angle (ϕ), where the vehicle model includes the understeer/oversteer gradient (Ku); determining (S3), based on the road bank angle (ϕ) and the vehicle model, a first compensation torque (Tc) for reducing the lateral drift of the heavy-duty vehicle (100) at the road section (211); and applying (S4) the first compensation torque (TC) across different wheels (140) of the heavy-duty vehicle (100) to reduce the lateral drift of the heavy-duty vehicle due to the road bank angle (ϕ).