Vehicle Control Apparatus Synchronizing Brake Force Time Differentials
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Solution Overview
Problem
Existing vehicle control systems fail to adequately manage the interaction between driver-initiated pedal operations and automated driving/braking forces, leading to uncomfortable feelings for the driver due to mismatched behaviors between pedal operations and vehicle responses, particularly when the driver operates the brake pedal during adaptive cruise control.
Innovation Solution
A vehicle control apparatus that detects brake pedal operations and adjusts both driving and braking forces to match the intended behavior by synchronizing the time differential values of these forces with the driver's input, reducing the burden on actuators and ensuring the pedal operation aligns with the vehicle's longitudinal force behavior.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the vehicle control system simultaneously applies controlled driving force and controlled braking force during automated driving, then the vehicle can maintain stable automated control, but the driver experiences uncomfortable feelings when performing pedal operations due to mismatched vehicle behavior
Solution Approach 1:
The system dynamically switches between automated driving force control and manual pedal operation control. When the driver performs a pedal operation, the system transitions from simultaneously applying controlled driving and braking forces to primarily responding to pedal operations, making the vehicle behavior match driver intent while maintaining automated safety monitoring
Solution Approach 2:
The system monitors driver pedal operations in real-time and adjusts the controlled driving and braking forces accordingly. When pedal operation is detected, the system modifies the automated control forces to prevent conflicting vehicle responses, creating a feedback loop that aligns automated control with driver intent
2Device complexity
If the system decreases the time differential value of controlled driving force to reduce actuator burden, then actuator burden is reduced, but the vehicle's acceleration behavior may not match the driver's intended behavior from brake pedal operation
Solution Approach 1:
The system dynamically adjusts the time differential values of controlled driving and braking forces based on driver pedal operation state. During brake pedal operation, the system coordinates the reduction of both driving and braking force differential values to maintain appropriate vehicle deceleration behavior while minimizing actuator burden
Solution Approach 2:
The system changes the parameters (time differential values) of controlled driving and braking forces to optimize both actuator burden and vehicle behavior. By adjusting these parameters in response to pedal operations, the system achieves smoother force transitions that reduce actuator stress while maintaining driver-intended vehicle response
Data Source
AI summary
When having determined that an operation of a brake operator is initiated at a first timing and the operation amount continues to increase until a second specific timing arrives to become constant at a second timing, vehicle control means which a vehicle control apparatus comprises executes braking force control in such a manner that a time-differential value of controlled braking force during a first period from the second timing to a first terminal timing matches with a time-differential value of controlled braking force at the second specific timing as well as executes driving force control in such a manner that a time-differential value of the controlled driving force during the first period becomes a value less than or equal to a sum of a time-differential value of the controlled driving force at the second specific timing and a time-differential value of operation braking force at the second specific timing.