Heavy Vehicle Uphill Control Using Mode-Switched Actuator Matrices
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Solution Overview
Problem
Existing driver assistance systems for uphill driving in heavy commercial vehicles do not adequately address the abrupt changes in vehicle dynamics and fail to provide intuitive and efficient control across a wide range of vehicle speeds, particularly when transitioning between accelerator and brake pedals.
Innovation Solution
A vehicle control method utilizing a control effectiveness matrix with different values for uphill and regular drive modes, combined with a weighting matrix that adjusts brake force distribution based on pedal depression, to optimize actuator control and enhance driver assistance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a single control effectiveness matrix is used for all driving conditions, then the control system is simple, but it cannot adequately address abrupt changes in vehicle dynamics during uphill driving
Solution Approach 1:
The control effectiveness matrix is made dynamic by switching between two different matrices (B1 for uphill mode, B2 for regular mode) based on real-time detection of uphill conditions. This allows the control system to adapt its parameters to match the current driving conditions, improving adaptability while maintaining manageable complexity through conditional switching rather than continuous adjustment
Solution Approach 2:
The invention changes the parameters of the control effectiveness matrix based on detected uphill conditions. When uphill mode is detected, the system switches to matrix B1 with parameters optimized for uphill dynamics; otherwise, it uses matrix B2 for regular driving. This parameter switching resolves the contradiction by providing condition-specific optimization without requiring a completely complex adaptive system
2Reliability
If brake force is applied immediately when accelerator is released, then vehicle control is maintained, but driver reaction time is reduced and control feels abrupt
Solution Approach 1:
The system performs preliminary detection of uphill conditions and prepares the appropriate control strategy in advance. When the accelerator is released, the control system has already determined the suitable braking force based on the pre-detected uphill mode, allowing for smooth and appropriate brake application without abrupt changes. This preliminary preparation maintains control reliability while ensuring smooth driver interaction
Solution Approach 2:
The control system continuously monitors accelerator pedal position and vehicle dynamics to provide feedback on when brake force should be applied. This feedback mechanism ensures that braking is applied at the appropriate moment with the correct force, maintaining vehicle control stability while providing smooth and intuitive driver interaction through condition-based response
3Adaptability or versatility
If uphill assist is activated at all speeds, then driver assistance is maximized, but energy consumption increases unnecessarily at high speeds
Solution Approach 1:
The invention changes the operational parameters of the uphill assist system by introducing a speed threshold parameter. The assist function is activated only when vehicle speed is below this threshold and uphill conditions are detected. This parameter-based conditional activation provides adaptability across different driving scenarios while avoiding unnecessary energy consumption at high speeds where uphill assist is less effective
4Ease of operation
If brake pressure is maintained for preset period, then driver has time to switch pedals, but vehicle may roll backward if braking is insufficient
Solution Approach 1:
The control system automatically determines the appropriate braking force and duration based on detected uphill conditions and vehicle dynamics, without requiring the driver to manually adjust braking. The system serves itself by continuously monitoring conditions and adjusting brake pressure accordingly, providing both adequate driver reaction time and sufficient braking force to prevent backward rolling through automated condition-based control
Data Source
AI summary
A method of controlling a vehicle with a plurality of motion actuators comprises: determining a longitudinal inclination and speed of the vehicle; selecting an uphill drive mode if the longitudinal inclination is greater than an inclination threshold and the absolute speed is less than a speed threshold, and otherwise selecting a regular drive mode; obtaining motion requests; in accordance with the selected drive mode, providing a solution to an optimization problem related to optimal control of the motion actuators in accordance with the obtained motion requests; and controlling the motion actuators in accordance with the solution to the optimization problem. The optimization problem is dependent on a control effectiveness matrix which is defined differently in the uphill drive mode and the regular drive mode.