Vehicle Trajectory Control With Adaptive Anticipator Tuning
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Solution Overview
Problem
Existing trajectory control systems in motor vehicles face issues with comfort and safety, particularly during turns, due to oversteer or abnormal tracking when vehicles are overloaded, and existing anticipatory modules do not adequately adjust to changing conditions.
Innovation Solution
A method for adjusting an anticipatory module using a bicycle model of the vehicle, which includes detecting unsuitability during turns, calculating secondary parameters through optimization, and updating the bicycle model to improve comfort by reducing the contribution of the feedback module.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the closed loop is made more dynamic to correct oversteer or toe-out, then safety is improved, but comfort deteriorates
Solution Approach 1:
The patent dynamically adjusts the anticipator module parameters based on detected vehicle conditions (overload, oversteer, toe-out). The system transitions from a static control approach to a dynamic one where control parameters are modified in real-time based on sensor feedback and detection of abnormal vehicle behavior, resolving the contradiction between safety and comfort by adapting the control strength to actual needs.
Solution Approach 2:
The patent changes control parameters (anticipator module settings, feedback gains) based on detected vehicle states. When overload or abnormal tracking is detected, the system modifies the anticipator module parameters to provide appropriate correction while maintaining comfort. This parameter adaptation allows the system to prioritize safety when needed while maintaining comfort during normal operation.
2Reliability
If the anticipator module is adjusted to correct trajectory deviation, then safety is improved, but the contribution of the feedback module increases reducing comfort
Solution Approach 1:
The patent uses the anticipator module to provide preliminary correction for expected trajectory deviations based on detected vehicle conditions. By anticipating and correcting trajectory issues before they fully develop, the system reduces the need for reactive feedback corrections, thereby maintaining safety while preserving comfort by minimizing feedback module involvement.
Solution Approach 2:
The patent implements a detection feedback mechanism that monitors vehicle trajectory and conditions, then adjusts anticipator module parameters accordingly. This feedback loop enables the system to learn from detected abnormalities (overload, oversteer) and pre-adjust control parameters to prevent future trajectory deviations, reducing reliance on the feedback module for corrections.
3Reliability
If the closed loop dynamics are increased to ensure safety, then abnormal tracking is corrected, but passenger comfort is reduced
Solution Approach 1:
The patent applies different control strategies to different vehicle conditions. Instead of uniformly increasing closed-loop dynamics for all situations, the system detects specific abnormal conditions (oversteer, toe-out, overload) and applies targeted adjustments to the anticipator module only when these conditions are present. This localized approach corrects abnormal tracking while maintaining smooth comfort-oriented control during normal operation.
Solution Approach 2:
The patent makes the control system dynamics adaptive rather than fixed. The closed-loop dynamics are adjusted in real-time based on detected vehicle conditions and trajectory deviations. When abnormal tracking is detected, the system temporarily increases dynamics for correction, then returns to comfort-oriented dynamics, resolving the contradiction between consistent safety correction and overall passenger comfort.
Data Source
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AI summary
This method for setting an anticipator module fitted to a device for monitoring the trajectory of a motor vehicle comprises: - detecting (E13) an unsuitable anticipator module on a bend, taking into account a lateral difference from an ideal trajectory and/or a contribution of a feedback module of the monitoring device; - determining (E14) primary parameters; - calculating (E15) a secondary parameter using an optimization-based calculation method, taking into account the determined primary parameters; and - updating (E16, E17) a bicycle model of the vehicle taking into account the calculated secondary parameter.