Utility Vehicle Evasion Control Under Lateral Acceleration Limits

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Solution Overview

Problem

Existing emergency braking systems for commercial vehicle combinations do not adequately consider vehicle stability during evasive maneuvers, particularly at low coefficients of friction, which can lead to secondary accidents such as tipping over or loss of directional stability.

Innovation Solution

A method that determines a current lateral acceleration of the commercial vehicle combination and limits the target steering angle and deceleration to maintain stability, using an automated steering and braking system to follow a determined avoidance trajectory, with updated trajectories calculated at intermediate points to compensate for deviations and prevent tipping or loss of stability.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Reliability

If automated evasive maneuver is performed by actively intervening in steering, then collision avoidance capability is improved, but vehicle combination stability deteriorates

Engineering Contradiction:

Improvecollision avoidance capabilityVSAvoidvehicle combination stability

Core Design Contradiction:

ReliabilityVSStability of the object's composition

Solution Approach 1:

The system dynamically adjusts steering angle and acceleration parameters based on real-time vehicle state measurements. The control unit modifies the evasive maneuver parameters adaptively to maintain stability while achieving collision avoidance, rather than executing fixed pre-programmed maneuvers.

Inventive Principle:

Principle #35Parameter changes

Solution Approach 2:

The system continuously monitors actual vehicle behavior during the evasive maneuver and compares it with desired trajectory. When deviations are detected, the control unit generates corrective control signals to realign the vehicle with the intended path, ensuring both collision avoidance and stability maintenance.

Inventive Principle:

Principle #23Feedback

2Reliability

If additional steering maneuver is performed to evade collision object, then collision avoidance capability is improved, but risk of secondary accidents increases

Engineering Contradiction:

Improvecollision avoidance capabilityVSAvoidrisk of secondary accidents

Core Design Contradiction:

ReliabilityVSObject-affected harmful factors

Solution Approach 1:

The system preemptively counteracts potential instability effects by continuously monitoring vehicle state and applying corrective steering inputs before critical deviations occur. This preliminary anti-action prevents the vehicle from entering unstable states that could lead to secondary accidents.

Inventive Principle:

Principle #9Preliminary anti-action

Solution Approach 2:

The control system transitions from static pre-programmed maneuvers to dynamic adaptive control that responds to real-time vehicle conditions. The maneuver parameters are continuously adjusted based on actual vehicle response, allowing the system to maintain stability throughout the evasive action.

Inventive Principle:

Principle #15Dynamics

3Reliability

If target steering angle is increased to follow evasive trajectory, then collision avoidance capability is improved, but vehicle stability deteriorates

Engineering Contradiction:

Improvecollision avoidance capabilityVSAvoidvehicle stability

Core Design Contradiction:

ReliabilityVSStability of the object's composition

Solution Approach 1:

The system applies partial steering corrections rather than maximum steering inputs. By using moderate, progressive steering adjustments rather than aggressive full-deflection maneuvers, the system achieves trajectory following while minimizing stability disruptions.

Inventive Principle:

Principle #16Partial or excessive action

Data Source

PatentEP3515781B1Method for performing an evasive manoeuvre with a utility vehicle combination, and emergency evasion system

Publication Date: 2025.01.08 ZF CV SYST EURO BV

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AI summary

The invention relates to a method for performing an evasive manoeuvre (AVM) with a utility vehicle combination (100), having at least the following steps: - detecting whether a collision between the utility vehicle combination (100) and a collision object (200) is imminent; - determining an evasion trajectory (AT_0) if a collision is recognised; - determining a desired steering angle using the evasion trajectory (AT_0) and actuating an active steering system depending on the determined desired steering angle such that the utility vehicle combination (100) moves along the evasion trajectory (AT_0) from a starting lane to a target lane to perform the evasive manoeuvre; - determining a desired deceleration of the vehicle and actuating an electronic brake system depending on the desired deceleration of the vehicle to brake the utility vehicle combination (100) while performing the evasive manoeuvre. According to the invention, a lateral acceleration (aLat) of the utility vehicle combination (100) is determined during performance of the evasive manoeuvre, wherein - the desired steering angle is limited if the lateral acceleration (aLat) reaches or exceeds a maximum lateral acceleration (aLatMax), and/or - the desired deceleration of the vehicle is limited to a maximum desired deceleration of the vehicle if a total acceleration (aTot) of the utility vehicle combination (100) reaches or exceeds a maximum total acceleration (aTotMax).