Torque Vectoring Control for Wheel Slip During Vehicle Turning
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Solution Overview
Problem
Existing vehicle wheel slip control methods, such as ABS and TCS, are ineffective due to limitations in feedback control and failure to account for real-time vertical load changes and roll motion during vehicle turns, leading to repeated wheel slip and deterioration of slip control performance.
Innovation Solution
A method for controlling vehicle driving force by determining real-time vertical load information of each wheel and adjusting torque distribution using a torque vectoring apparatus to prevent excessive wheel slip and stabilize lateral grounding force, incorporating roll dynamics and vertical load changes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If TCS reduces driving force to control wheel slip, then wheel slip is reduced, but roll motion and lateral load movement are generated again when driving force is increased, causing repeated wheel slip
Solution Approach 1:
The control method performs preliminary action by predicting vertical load information before wheel slip occurs. The predictor estimates future vertical loads on driving wheels based on current vehicle state, allowing the controller to proactively adjust driving force to prevent slip rather than reactively responding after slip detection.
Solution Approach 2:
The control method implements feedback by continuously monitoring actual wheel slip conditions and comparing them with predicted vertical load information. The controller adjusts driving force based on this feedback loop, ensuring that slip control actions are continuously optimized according to real-time vehicle dynamics.
2Reliability
If ABS or TCS is used to limit tire slip, then friction force is utilized, but slip control performance deteriorates due to vehicle speed signal processing delays and misoperation
Solution Approach 1:
The control method substitutes the traditional mechanical speed sensing system with a predictive modeling approach. Instead of relying on physical speed sensors and their associated processing delays, the system uses a predictor to estimate vertical load information based on vehicle dynamics models, eliminating the time loss associated with mechanical signal processing.
Solution Approach 2:
The predictor performs preliminary calculation of vertical load information before it is actually needed for control decisions. This advance computation eliminates waiting time and ensures that control actions are based on ready-to-use predicted data rather than delayed sensor readings.
3Power
If driving force is increased during vehicle turning, then propulsion is improved, but roll motion generates uneven tire slip at left and right wheels
Solution Approach 1:
The control method applies local quality by treating left and right driving wheels differently based on their individual vertical load conditions. The controller calculates separate driving force limits for each wheel based on predicted vertical load information, allowing asymmetric torque distribution that matches the local load conditions at each wheel position.
Solution Approach 2:
The control method implements dynamics by continuously adapting the driving force distribution to changing vertical load conditions during turning. As the vehicle rolls and load transfers between wheels, the predictor updates vertical load estimates and the controller dynamically adjusts torque allocation to maintain optimal slip control throughout the maneuver.
Data Source
AI summary
A driving method of controlling a vehicle is provided to solve the problem of a repeated wheel slip and deterioration of wheel slip control performance due to a roll motion by controlling the driving force of a vehicle by reflecting vertical load information of tires in real time while the vehicle is turning, to a method that can solve the problem of a repeated wheel slip and deterioration of wheel slip control performance due to a roll motion by controlling the driving force of a vehicle by reflecting vertical load information of tires in real time while the vehicle is turning.