Vehicle Control Arbitration for Smooth Actuator Response
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Solution Overview
Problem
Existing control devices in vehicles cause discomfort to drivers and passengers due to feedback control when actuators cannot immediately respond to requests, leading to abrupt acceleration changes and reduced ride quality.
Innovation Solution
A control device that includes an arbitration unit to manage multiple actuator requests, calculating and distributing requests while restricting feedback control computations based on predetermined conditions to ensure smooth vehicle motion.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If feedback control is performed based on vehicle behavior to manage actuator requests, then actuator response accuracy is improved, but ride comfort deteriorates when actuators cannot respond immediately due to accumulated requests being applied all at once
Solution Approach 1:
The control device determines in advance whether the actuator can respond to feedback control requests before accumulating them. By checking actuator readiness beforehand and restricting feedback control when the actuator cannot respond, the system prevents accumulation of requests that would otherwise be applied all at once, thereby maintaining ride comfort while preserving actuator response accuracy when the actuator is ready.
2Measurement precision
If feedback control is continuously performed to follow vehicle behavior, then control precision is improved, but driver operation comfort deteriorates when feedback control impedes driver-requested operations
Solution Approach 1:
The control device determines in advance whether the actuator can respond to feedback control requests before executing them. By checking actuator readiness and driver operation status beforehand, the system restricts feedback control when it would impede driver operations, thereby maintaining control precision when appropriate while preserving driver operation comfort.
3Adaptability or versatility
If multiple actuator requests are managed through arbitration and feedback control, then system control capability is improved, but system complexity increases due to request accumulation and restriction logic
Solution Approach 1:
The control device determines in advance whether the actuator can respond to feedback control requests and whether driver operations are being performed. By making these determinations before executing feedback control, the system simplifies the control logic while maintaining comprehensive control capability over multiple actuators and driver assistance systems.
Data Source
AI summary
A control device installed in a vehicle, the control device including one or more processors configured to: accept a plurality of first requests from a driver assistance system; perform arbitration of the first requests; calculate a second request that is a physical quantity that is different from the first requests, based on an arbitration result from the arbitration; calculate a third request that is the same physical quantity as the second request, based on a value realized by the vehicle and the first request; and distribute the second request and the third request to at least one of a plurality of actuator systems, wherein the one or more processors are configured to restrict calculation of the third request based on a predetermined condition.