Vehicle Control Apparatus Dynamic Torque Adjustment for Obstacle Traversal
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Solution Overview
Problem
Conventional vehicle control systems take a long time to increase driving torque when a vehicle is at low speed, such as off-road conditions, leading to prolonged time to overcome obstacles and a perceived failure by the driver.
Innovation Solution
A vehicle control apparatus with a driving force calculating device and a correcting device that adjusts the driving torque based on the deviation between vehicle speed and target speed, particularly increasing torque when the vehicle speed reduces to a predetermined value or less, such as when encountering an obstacle, to quickly overcome obstacles while maintaining target speed.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If the gain for increasing driving torque is set at a low level because the target speed is low, then the vehicle speed can be maintained at the target speed, but it takes a long time for the driving torque to reach the required level to drive forward over the bump
Solution Approach 1:
The patent applies dynamics by making the gain value changeable based on vehicle operating conditions. Specifically, the gain is increased when the vehicle speed becomes equal to or lower than a predetermined threshold (indicating obstacle contact), and returned to the original value when speed exceeds the threshold. This dynamic adjustment allows the system to quickly overcome obstacles when needed while maintaining normal speed control under regular conditions.
Solution Approach 2:
The patent changes the parameter of gain value based on vehicle speed conditions. When vehicle speed drops to or below the predetermined value (suggesting bump contact), the gain is increased to accelerate torque buildup. This parameter change enables the system to adapt its response characteristics to the current driving situation, resolving the contradiction between maintaining target speed and quickly overcoming obstacles.
2Stability of the object's composition
If the gain for increasing driving torque is set at a low level, then the vehicle speed can be maintained at the target speed, but the driver feels something is wrong and misunderstands it is a failure
Solution Approach 1:
The system dynamically adjusts the gain based on vehicle speed feedback. When the vehicle encounters an obstacle and speed drops to or below the threshold, the gain increases to provide stronger torque acceleration, creating a more responsive and confident driving experience. When speed recovers above the threshold, the gain returns to normal, maintaining stable speed control. This dynamic response prevents driver misunderstanding by providing appropriate torque support during obstacle traversal.
Solution Approach 2:
The patent uses feedback control by continuously monitoring vehicle speed and adjusting the gain accordingly. The feedback mechanism detects when speed drops (indicating obstacle contact) and triggers gain increase to provide necessary torque support. This closed-loop feedback ensures the system responds appropriately to driver needs while maintaining overall speed stability, thereby preserving driver confidence.
3Force
If the deviation between vehicle speed and target speed is small, then the amount of increasing the driving force is reduced, but it takes a long time for the vehicle to make the driving torque reach the driving torque required to drive forward over the bump
Solution Approach 1:
The patent makes the gain dynamic rather than fixed. When vehicle speed drops to or below the predetermined threshold (indicating obstacle contact despite small deviation), the gain is increased to accelerate torque buildup. This dynamic gain adjustment decouples the torque increase rate from the deviation magnitude, allowing rapid torque development when needed while maintaining proportional control during normal operation.
Solution Approach 2:
The system changes the gain parameter based on vehicle speed conditions rather than solely on deviation magnitude. When speed falls to or below the threshold, the gain increases to provide faster torque response. This parameter change enables the system to overcome the limitation of small deviation-based control, allowing rapid torque escalation when obstacle contact is detected regardless of deviation size.
Data Source
AI summary
A vehicle control apparatus is used to control a driving force to be given to a vehicle. A driving force calculating device calculates the driving force to be given to the vehicle, on the basis of a deviation between a vehicle speed of the vehicle and a target speed. A driving force correcting device performs correction of increasing the driving force calculated by the driving force calculating device, when the vehicle speed reduces to a predetermined value or less. Specifically, the driving force correcting device performs the correction of increasing the driving force, when the vehicle speed reduces to the predetermined value or less as the vehicle comes in contact with an obstacle, such as a bump. By this, it is possible to reduce a stop time length of the vehicle due to the contact with the obstacle, to thereby quickly make the vehicle run over the obstacle.