Vehicle Controller Yaw Rate Correction Logic
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Solution Overview
Problem
Existing vehicle controllers face challenges in accurately correcting detected lateral acceleration due to sudden changes in yaw rate sensor readings, which can affect the vehicle's behavior control.
Innovation Solution
A vehicle controller that includes a sudden change judgment section to determine if the yaw rate change rate exceeds a predetermined value, using a normative yaw rate calculated from the steering angle and vehicle speed for correction when necessary, and switching back to the detected yaw rate once the change stabilizes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the detected yaw rate is used for correcting lateral acceleration, then the correction accuracy is improved, but the system becomes vulnerable to sudden changes caused by sensor abnormalities
Solution Approach 1:
The patent introduces a normative yaw rate as an intermediary element that mediates between the potentially abnormal detected yaw rate and the lateral acceleration correction process. When the detected yaw rate shows sudden changes exceeding a threshold, the normative yaw rate (calculated from steering angle and vehicle speed) serves as a reliable substitute, preventing these sudden changes from directly affecting the correction accuracy while maintaining system reliability
Solution Approach 2:
The patent implements a feedback mechanism that continuously monitors the change rate of the detected yaw rate and dynamically switches between using the detected yaw rate and the normative yaw rate for correction. This feedback loop ensures that when abnormalities are detected (sudden changes), the system automatically transitions to the normative yaw rate, thereby maintaining both correction accuracy and reliability
Data Source
AI summary
According to one embodiment, there is provided a vehicle controller including: a sudden change judgment section that judges whether a change rate of a detected yaw rate is equal to or more than a predetermined value; a normative yaw rate calculator that calculates a normative yaw rate based on a steering angle amount; and a correction section that performs a correction for making a detected lateral acceleration close to a value to be detected at a gravity center of a vehicle, by using: the detected yaw rate when the sudden change judgment section judges that the change rate of the detected yaw rate is less than the predetermined value; and the normative yaw rate instead of the detected yaw rate when the sudden change judgment section judges that the change rate of the detected yaw rate is equal to or more than the predetermined value.