Vehicle Control System Segmentation for Steering Parameter Tuning
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Solution Overview
Problem
The existing vehicle control systems require complex adjustments of control parameters in both the command and actuator controllers, limiting the degree of freedom in designing the vehicle control system.
Innovation Solution
A vehicle control system with an integrated control device that centrally controls multiple vehicle systems, including a vehicle steering system, and a steering control device that executes separate control processes, allowing for the calculation and application of control parameters specific to vehicle and steering system behaviors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If control parameters are adjusted in both the command controller and the actuator controller to modify vehicle and actuator behaviors, then the behaviors can be tuned, but the adjustment work becomes complicated and the degree of freedom in designing the control system decreases
Solution Approach 1:
The control system is segmented into two distinct control devices: a command controller that handles vehicle-level control parameters and an actuator controller that handles actuator-level control parameters. This segmentation allows each controller to independently adjust parameters for its respective control level, simplifying the overall adjustment process while maintaining the ability to tune both vehicle and actuator behaviors.
Solution Approach 2:
The command controller acts as an intermediary that receives high-level vehicle behavior commands and translates them into control signals for the actuator controller. This intermediary structure enables hierarchical control where vehicle-level adjustments don't directly complicate actuator-level adjustments, as each level operates with its own parameter set while maintaining coordination through the command-controller interface.
2Device complexity
If a single centralized controller is used to control all vehicle systems, then the control structure is simplified, but the responsiveness and stability for specific subsystems like steering may be compromised
Solution Approach 1:
The control system is divided into a command controller for overall vehicle control and a dedicated actuator controller for specific actuator control. This segmentation allows the actuator controller to focus computational resources on maintaining high responsiveness and stability for its controlled actuator, while the command controller manages the broader vehicle-level control logic.
Solution Approach 2:
The control architecture introduces a hierarchical dimension with two levels: vehicle-level control by the command controller and actuator-level control by the actuator controller. This dimensional separation allows each controller to operate at its appropriate timescale and complexity level, with the actuator controller handling fast, stability-critical adjustments while the command controller manages slower, coordination-level decisions.
Data Source
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AI summary
A vehicle control system (CCS) controls a plurality of vehicle systems (CS) including a vehicle steering system (STG). A first control process to be executed by an integrated control device (10) is a process of calculating a steering control value (θp*, Ts*) to be used by a steering control device (20) to control the vehicle steering system (STG), and is a process using a control parameter set in association with a behavior of a vehicle (VC). A second control process to be executed by the steering control device (20) is a process of controlling the vehicle steering system (STG) to reflect the steering control value (θp*, Ts*) calculated by the integrated control device (10), and is a process using a control parameter set in association with a behavior of the vehicle steering system (STG).