Vehicle Dynamics Control via Force Estimation and Compensation
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Solution Overview
Problem
Existing vehicle control systems do not adequately consider the unintended forces exerted on other vehicle systems during dynamic control, leading to adverse effects on safety due to the magnitude of these forces.
Innovation Solution
A control system that includes estimators for controlled forces, external forces, and dynamics, which compensate for these forces to maintain parameters within a target range, thereby improving safety and stability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Power
If control of the drivetrain system is applied to change driving force, then the driving force control is achieved, but unintended reaction forces are generated that adversely affect the steering system
Solution Approach 1:
The control system estimates the unintended reaction force generated by drivetrain control before it adversely affects steering dynamics, and applies compensatory steering control in advance to counteract the harmful effect. This preliminary anti-action prevents the reaction force from degrading steering performance.
Solution Approach 2:
The control system introduces an intermediary compensation mechanism that mediates between the drivetrain control action and the steering system. By estimating the reaction force and applying compensatory control, the system acts as an intermediary to eliminate the harmful interaction between subsystems.
2Ease of operation
If control of the steering system is applied to improve steering dynamics, then steering responsiveness is improved, but unintended forces are generated that adversely affect the drivetrain system
Solution Approach 1:
The control system estimates the unintended force generated by steering control before it adversely affects drivetrain dynamics, and applies compensatory drivetrain control in advance to counteract the harmful effect, maintaining both steering responsiveness and drivetrain stability.
Solution Approach 2:
The control system continuously monitors the interaction forces between steering and drivetrain systems, using feedback to adjust compensatory control actions. This feedback mechanism ensures that steering responsiveness is maintained while preventing adverse effects on the drivetrain system.
3Device complexity
If conventional control approaches are used that do not consider unintended forces, then control simplicity is maintained, but vehicle safety is compromised due to the magnitude of unintended forces
Solution Approach 1:
The control system introduces an intermediary force estimation and compensation mechanism that mediates between control simplicity and safety. By estimating unintended forces and applying compensatory control, the system maintains relative simplicity while significantly improving vehicle safety through coordinated subsystem control.
Data Source
AI summary
In a control system, a first estimator estimates, as a first controlled force, a force being applied to a controlled object. A second estimator estimates, as a second controlled force, a force being transferred to the controlled object. An external force estimator estimates, as an external force, a force being exerted on the vehicle as the vehicle runs. A dynamics estimator estimates, based on the first controlled force, the second controlled force, and the external force, a value of a parameter that represents the dynamics of the controlled object. A compensator compensates for at least one of the first controlled force and the second controlled force such that the value of the parameter is within a preset target range.