Vehicle Drift Control Using Yaw Moment and Differential Torque
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Solution Overview
Problem
Conventional methods for controlling vehicle motion during high body slip angles, such as in drift or powerslide maneuvers, are inadequate, leading to abrupt changes, sensitivity to estimation uncertainties, and safety issues due to abrupt vehicle behavior.
Innovation Solution
A method involving the determination of a yaw moment to reduce the rate of change of the body slip angle, applying differential torque to at least two wheels of the same axis based on measured and estimated vehicle states, allowing the vehicle to find its equilibrium without steering to a predetermined configuration.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If conventional body slip angle control drives the vehicle to a predetermined angle, then the vehicle can be controlled during drift maneuvers, but the vehicle may establish an equilibrium and then be driven out of it, failing to achieve the target angle
Solution Approach 1:
Instead of directly controlling the body slip angle to a predetermined value, the invention inverts the control approach by controlling the rate of change of the body slip angle (dβ/dt). This indirect control method avoids the problem of driving the vehicle out of equilibrium while still achieving the desired angle control, as the system naturally converges to the target angle through controlled rate adjustment rather than direct angle manipulation.
Solution Approach 2:
The invention applies preliminary action by controlling the rate of change of body slip angle before the vehicle reaches the target equilibrium. By preemptively adjusting dβ/dt, the system guides the vehicle toward the desired angle while maintaining stability, preventing the oscillation and equilibrium disruption that occurs with direct angle control methods.
2Adaptability or versatility
If conventional control activates only after a threshold is exceeded, then drift control can be activated when needed, but the change from passive to active control is abrupt, leading to abrupt changes in vehicle behavior and potential safety issues
Solution Approach 1:
The invention applies dynamics by making the control system continuously active rather than switching abruptly between passive and active states. The body slip angle rate control is continuously adjusted based on real-time vehicle state, enabling smooth transitions and gradual adaptation to drift conditions without sudden changes in vehicle behavior that could compromise safety or driver control.
3Ease of operation
If conventional methods control the yaw rate or wheel slip angle, then the vehicle can be controlled during normal driving, but these approaches do not allow maneuvers with high body slip angle and are thus generally unsuitable for drift
Solution Approach 1:
The invention applies parameter changes by shifting the control parameter from yaw rate or wheel slip angle to the rate of change of body slip angle (dβ/dt). This parameter transformation enables the control system to accommodate high body slip angle maneuvers while maintaining ease of operation, as the new parameter directly reflects the vehicle's drift state and allows for intuitive control adjustments during extreme maneuvers.
Data Source
AI summary
A method for controlling motion of a vehicle, the method comprising the steps of: obtaining measured information related to a state of the vehicle; determining estimated information related to the state of the vehicle based on the measured information; determining a yaw moment reducing a rate of change of a body slip angle of the vehicle based on the measured information and/or the estimated information; determining at least one differential torque to be applied to at least two wheels of a same axis of the vehicle based on the body slip angle of the vehicle and the determined yaw moment; and applying the at least one differential torque to the at least two wheels of the vehicle.