Vehicle Drive Force Control Using Jerk Detection for Step Crossing
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Solution Overview
Problem
Conventional vehicle control systems face challenges in accurately maintaining vehicle motion when crossing steps or inclined road surfaces due to low detection accuracy of wheel speed sensors at low speeds, leading to unstable control of drive force adjustment.
Innovation Solution
A vehicle control apparatus that includes an object detecting means, a restraining means, and a jerk acquiring means, which detects objects in the travel direction, restrains drive force when necessary, and uses jerk detection to accurately determine the start of vehicle movement, independent of gravitational acceleration, allowing for precise control of drive force adjustment.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the drive force is restrained to prevent collision with detected objects, then vehicle safety is improved, but the vehicle cannot cross over steps or inclined surfaces
Solution Approach 1:
The drive force is dynamically adjusted based on detected vehicle behavior. When the vehicle is moving normally, the drive force is restrained to prevent collision. When step crossing is detected through acceleration changes, the drive force is increased to enable the vehicle to overcome the step, thus adapting the system to different operational conditions
Solution Approach 2:
The system changes the drive force parameter from a fixed restrained value to a variable value that increases when step crossing is detected. This parameter change allows the vehicle to transition from collision prevention mode to step crossing mode, resolving the contradiction between safety and adaptability
2Speed
If the vehicle speed is detected using a wheel speed sensor at extremely low speeds, then the detection period increases, but the detection accuracy decreases
Solution Approach 1:
The system uses acceleration detection as an intermediary parameter to indirectly determine vehicle movement state. Instead of directly measuring speed with low accuracy at extremely low speeds, the system detects acceleration changes which remain measurable even when vehicle speed is near zero, thus solving the measurement precision problem
Solution Approach 2:
The system replaces the mechanical wheel speed sensor measurement method with an acceleration-based detection method. By using acceleration sensors and analyzing jerk (rate of change of acceleration), the system achieves accurate detection of vehicle movement initiation without relying on wheel speed sensor periodicity
3Adaptability or versatility
If the drive force is increased to enable vehicle movement on inclined surfaces or over steps, then the vehicle can overcome obstacles, but the vehicle may start abruptly or exceed speed limits
Solution Approach 1:
The system continuously monitors acceleration and jerk to detect vehicle movement state. When movement is detected through acceleration changes, the system provides feedback to reduce the drive force back to the restrained level, preventing excessive speed and abrupt movement while initially enabling obstacle crossing
Solution Approach 2:
The system uses periodic detection of acceleration and jerk to monitor vehicle behavior. By detecting the rate of change of acceleration (jerk), the system can identify the precise moment of movement initiation and adjust drive force accordingly, maintaining stability during the transition from stationary to moving state
Data Source
AI summary
A vehicle control apparatus detects an object in a travel direction of a vehicle. The vehicle control apparatus restrains a drive force of the vehicle when an object is detected. The vehicle control apparatus acquires a jerk in a travel direction on the basis of a behavior of the vehicle. When an accelerator of the vehicle is actuated while the vehicle is in a state in which the drive force of the vehicle is restrained, and a speed of the vehicle is lower than a predetermined value. The vehicle control apparatus increases the drive force, and decreases a post-increase drive force on the basis of the acquired jerk.