Vehicle Dynamics Model Validation Using Wheel Slip Limits

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Solution Overview

Problem

Existing vehicle motion control systems face challenges in validating vehicle models accurately, particularly in ensuring model validity during emergency maneuvers, which is crucial for autonomous driving and safety.

Innovation Solution

The method involves setting a wheel slip limit for vehicle torque devices, obtaining a model of vehicle dynamics based on this limit, and validating the model. This approach allows for the use of explicit models to analyze vehicle behavior during emergency maneuvers, reducing necessary model uncertainty margins and increasing the operational design domain (ODD) of the vehicle.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Reliability

If large safety margins are required to guarantee model validity, then model reliability is improved, but vehicle operational design domain (ODD) is reduced

Engineering Contradiction:

Improvemodel validityVSAvoidvehicle ODD

Core Design Contradiction:

ReliabilityVSAdaptability or versatility

Solution Approach 1:

The patent changes the parameter of wheel slip limits from conservative estimates to precisely characterized values through systematic testing. By characterizing wheel slip behavior across different road surfaces, tire conditions, and vehicle states, the model validity is improved without requiring excessive safety margins, thus expanding the vehicle ODD.

Inventive Principle:

Principle #35Parameter changes

Solution Approach 2:

The patent implements feedback through systematic collection and analysis of wheel slip data during testing. This feedback loop allows continuous refinement of the vehicle dynamics model, improving its validity while identifying the actual boundaries of safe operation, thereby expanding the validated ODD without compromising reliability.

Inventive Principle:

Principle #23Feedback

2Ease of operation

If explicit models are used to analyze vehicle behavior during emergency maneuvers, then analysis capability is improved, but model uncertainty margins increase

Engineering Contradiction:

Improveanalysis capabilityVSAvoidmodel uncertainty

Core Design Contradiction:

Ease of operationVSReliability

Solution Approach 1:

The patent uses feedback from systematic testing on various road surfaces to continuously refine the explicit vehicle dynamics model. This empirical feedback reduces model uncertainty by validating predictions against actual measured wheel slip behavior, maintaining high analysis capability while reducing uncertainty margins.

Inventive Principle:

Principle #23Feedback

Solution Approach 2:

The patent refines model parameters through systematic characterization of wheel slip across different operating conditions. By updating model parameters based on empirical data from testing, the explicit model achieves both high analysis capability and reduced uncertainty, resolving the contradiction between ease of operation and reliability.

Inventive Principle:

Principle #35Parameter changes

Data Source

PatentUS12330653B2Method for validating a model associated with vehicle dynamics

Publication Date: 2025.06.17 VOLVO AUTONOMOUS SOLUTIONS AB

AI summary

A method for validating a model of vehicle dynamics for use in autonomous driving. The method comprising setting a wheel slip limit on an operation of at least one vehicle torque device, obtaining a model of vehicle dynamics based on the set wheel slip limit, and validating the model of vehicle dynamics based on the set wheel slip limit.