Vehicle Control Device Steering Angle Error Estimation
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Solution Overview
Problem
The existing vehicle motion control apparatuses face challenges in continuing vehicle control effectively when a sensor failure occurs, leading to potential discontinuous control and increased estimation angle errors, especially at higher rotation speeds.
Innovation Solution
A vehicle control device that includes an angle sensor, an actuator, and a control device which estimates an estimation angle error based on the failure time and rotation speed of the steering system, limiting control when the error exceeds a predetermined reference value, and using a rotary machine to brake the rotation detected by the angle sensor, while correcting the output value based on counter-electromotive force to maintain stable vehicle control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Duration of action of stationary object
If the control device continues vehicle control after angle sensor failure, then control continuity is improved, but estimation angle error increases
Solution Approach 1:
The control device dynamically adjusts the control strategy based on the magnitude of estimation angle error. When the error exceeds a threshold, the system transitions from normal continuous control to limited control mode, allowing the control to adapt to changing error conditions while maintaining operational continuity
Solution Approach 2:
The system changes the control parameter (control limitation) based on the estimation angle error magnitude. By monitoring the error and adjusting the control intervention level, the system resolves the contradiction between maintaining control continuity and preventing excessive estimation errors
2Stability of the object's composition
If the control device limits vehicle control when estimation angle error is high, then control stability is improved, but control responsiveness deteriorates
Solution Approach 1:
Instead of completely stopping control when angle sensor fails, the system applies partial control action by limiting rather than eliminating control interventions. This partial action maintains sufficient stability while preserving necessary responsiveness for safety-critical operations
3Measurement precision
If the control device uses a rotary machine to brake rotation and correct sensor output, then measurement precision is improved, but device complexity increases
Solution Approach 1:
The rotary machine serves dual functions: it acts as a brake to control rotation speed and simultaneously generates counter-electromotive force that is used to correct the angle sensor output. This self-service approach improves measurement precision while minimizing the increase in device complexity by making the braking component multi-functional
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The vehicle control device ensures continuous and stable vehicle control by limiting control interventions when estimation angle errors are high and correcting sensor outputs, thereby reducing the frequency of VSC control stoppages and improving motion stability.
Implementation Method 1
the control device is configured to calculate the estimation angle error based on the counter-electromotive force generated in the rotary machine at a time the rotation of the part of which the rotation angle is detected by the angle sensor is braked
Data Source
AI summary
A vehicle control device includes: an angle sensor configured to detect a rotation angle of a steering system of a vehicle; an actuator mounted on the vehicle; and a control device configured to perform a vehicle control by controlling the actuator based on the detection result of the angle sensor. At a time the angle sensor has failed, the control device is configured to limit the vehicle control at a time an estimation angle error obtained based on a failure time of the angle sensor and the rotation speed of the steering system is not smaller than a predetermined reference value and not to limit the vehicle control at a time the estimation angle error is smaller than the reference value.