Vehicle Turning Yaw Control for Rear-Wheel Offset Vibration
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Solution Overview
Problem
Existing vehicle turning control systems experience vibration issues due to repeated increases and decreases in rear-wheel lateral offset angles, leading to difficulties in controlling the driving trajectory, especially during turning or interference.
Innovation Solution
A vehicle turning control device that calculates a target yaw momentum by detecting control and motion states, determining a saturated rear-wheel lateral offset angle, and applying correction amounts to stabilize the vehicle body lateral offset angle, using a first and second correction amount based on speed and lateral offset angle deviation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If a target yaw momentum proportional to the difference between the critical rear-wheel lateral offset angle and the actual rear-wheel lateral offset angle is assigned, then the vehicle body posture control is improved, but the rear-wheel lateral offset angle increases and decreases repeatedly causing vibration
Solution Approach 1:
The patent implements a feedback control mechanism by detecting the actual rear-wheel lateral offset angle and comparing it with the critical value, then using the difference to calculate correction amounts that are fed back to adjust the target yaw momentum. This closed-loop feedback system suppresses the vibration caused by repeated increases and decreases in the rear-wheel lateral offset angle while maintaining vehicle body posture stability.
2Speed
If the target yaw momentum is calculated based on the difference between critical and actual rear-wheel lateral offset angles, then the vehicle turning control responsiveness is improved, but the driving trajectory control becomes difficult due to vibration
Solution Approach 1:
The patent uses feedback control to detect the actual rear-wheel lateral offset angle and dynamically adjusts the target yaw momentum by adding correction amounts based on the difference from the critical value. This maintains fast responsiveness while suppressing vibration that would otherwise make trajectory control difficult.
Solution Approach 2:
The patent changes the parameters of the control system by introducing speed-dependent correction amounts (first and second correction amounts) that modify the target yaw momentum calculation. This allows the system to adapt to different driving conditions and suppress vibration across various speed ranges, improving both responsiveness and ease of trajectory control.
Data Source
AI summary
Vehicle turning control devices are provided. One device calculates a comparison value between a saturated rear-wheel lateral offset angle and an actual rear-wheel lateral offset angle, calculates a first correction amount for correcting the comparison value based on speed of a vehicle, and calculates a target yaw momentum based on the comparison value and the first correction amount. One device calculates a comparison value between a saturated rear-wheel lateral offset angle and an actual rea-wheel lateral offset angle, calculates a second correction amount for correcting the vehicle body lateral offset angular speed based on the speed, and calculates a target yaw momentum based on the comparison value and the vehicle body lateral offset angular speed corrected by the second correction amount.