Vehicle Control Device Matching Side Forces via Dual Single Track Models
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Solution Overview
Problem
Existing vehicle control systems fail to accurately match the behavior of a vehicle to a reference vehicle, particularly in terms of side forces, yaw acceleration, and attitude angle rate, leading to suboptimal handling and driver experience.
Innovation Solution
A control device that calculates and distributes side forces between actuators using a first and second single track model, minimizing a quality criterion to achieve natural vehicle behavior by outputting manipulated values for actuators such as rear wheel steering, rolling moment distribution, and driving power distribution, employing nonlinear single track models and Lagrange multipliers for optimal adaptation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a conventional vehicle control system is used, then the system structure is simple, but the accuracy of matching vehicle behavior to reference vehicle behavior is insufficient
Solution Approach 1:
The control system is segmented into multiple independent single-track models (first single-track model for actual vehicle, second single-track model for reference vehicle), each handling specific aspects of vehicle dynamics. This segmentation allows for precise comparison and matching of behavioral parameters while keeping each model computationally manageable.
Solution Approach 2:
Single-track models serve as intermediary computational representations between the actual vehicle and reference vehicle. These models translate complex vehicle dynamics into comparable side force calculations, enabling accurate behavior matching without directly comparing the full complexity of the actual vehicle systems.
2Measurement precision
If linear single track models are used, then the model complexity is low, but the accuracy of matching driving behavior is insufficient
Solution Approach 1:
The system transitions from linear to nonlinear single-track models, changing the mathematical parameters and relationships within the models. This parameter change enables the models to capture complex driving behaviors more accurately, including large slip angles and varying road conditions, while the modular structure prevents excessive complexity.
3Ease of operation
If the control system is designed to be imperceptible to the driver, then the driver experience is natural, but the control precision requirements increase
Solution Approach 1:
The control system continuously compares the actual vehicle behavior with the reference vehicle behavior through the single-track models and adjusts actuator commands in real-time. This feedback mechanism ensures high precision control while maintaining natural driver perception by only intervening when necessary to match desired behavior.
Solution Approach 2:
The system dynamically adjusts control parameters based on the difference between actual and reference vehicle behavior, changing manipulated values for actuators to achieve precise matching. This parameter adjustment occurs in a way that is imperceptible to the driver, maintaining natural driving experience.
Data Source
AI summary
A control device for a vehicle as at least one input for vehicle data of the vehicle and at least one output for manipulated values for actuators of the vehicle. The control device is configured to determine manipulated values for the actuators of the vehicle on the basis of a first single track model for the vehicle and of a second single track model for a reference vehicle in order to approximate the side forces of the vehicle in the first single track model to the side forces of the reference vehicle in the second single track model.