Torque Vectoring Control for Yaw Rate Phase Difference Reduction
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Solution Overview
Problem
Conventional torque vectoring technologies improve handling and performance in curved sections but compromise ride comfort, making it challenging to maintain stability and comfort during turns.
Innovation Solution
A torque vectoring control method that calculates a target yaw rate and moment based on longitudinal speed and lateral acceleration, applying these to a torque vectoring motor to adjust wheel rotations, while also considering passenger presence and selecting between agile and comfortable driving modes to optimize vehicle stability and comfort.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If conventional torque vectoring control is applied to improve handling and turning performance in curved sections, then turning agility and maximum lateral acceleration are enhanced, but vehicle ride comfort is degraded
Solution Approach 1:
The system dynamically switches between agile rotation control mode and comfortable driving control mode based on driver selection or conditions. In comfortable driving control mode, the control strategy is adjusted to reduce the phase difference between yaw rate and lateral acceleration, thereby improving ride comfort while maintaining turning performance
Solution Approach 2:
The system changes control parameters by applying different target yaw rates based on the selected mode. In comfortable driving control mode, the target yaw rate is calculated to minimize the phase difference between yaw rate and lateral acceleration, whereas in agile rotation control mode, the focus is on maximizing yaw rate response
2Speed
If torque vectoring control focuses on agile turning characteristic to increase steering angle to yaw rate gain, then turning responsiveness is improved, but vehicle stability during turns is compromised
Solution Approach 1:
The system provides dynamic control by allowing switching between agile rotation control mode and comfortable driving control mode. The comfortable driving control mode prioritizes vehicle stability by reducing the phase difference between yaw rate and lateral acceleration, while the agile rotation control mode prioritizes rapid yaw rate formation
3Force
If torque vectoring control enlarges turning limitation to increase maximum lateral acceleration, then turning performance is enhanced, but ride comfort is degraded
Solution Approach 1:
The system dynamically adjusts control strategy based on the selected mode. In comfortable driving control mode, the control parameters are optimized to reduce the phase difference between yaw rate and lateral acceleration, thereby improving ride comfort while maintaining enhanced turning performance achieved through torque vectoring
Solution Approach 2:
The system changes the target yaw rate parameter based on mode selection. In comfortable driving control mode, the target yaw rate is calculated to minimize the phase difference between yaw rate and lateral acceleration, reducing the harmful effects of excessive lateral acceleration on ride comfort
Data Source
AI summary
A vehicle, a computing system therefor, and a method thereof are provided. The computing system: calculates a longitudinal speed of the vehicle and lateral acceleration of the vehicle; calculates a target yaw rate based on the longitudinal speed of the vehicle and the lateral acceleration of the vehicle; calculates a target yaw moment based on the calculated target yaw rate; and applies the target yaw moment to a torque vectoring motor of the vehicle.