Vehicle Motion Arbitration for Slow-Response Actuator Control
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Solution Overview
Problem
Some vehicle actuators have slow responsivity, leading to delays in responding to requests from the driver assistance system, which affects vehicle control and ride comfort.
Innovation Solution
A manager system that arbitrates kinematic plans from electronic control units and outputs motion requests to actuators, taking into account the responsivity information of each actuator system, including the capability to update responsivity information Over the Air, to improve response times and adjust actuator states in advance based on future kinematic plans.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If actuators are used with slow responsivity, then device complexity is reduced, but response time to kinematic plans deteriorates
Solution Approach 1:
The manager outputs motion requests to actuators in advance based on the second (future) kinematic plan before they are actually needed. This preliminary action allows actuators with slow responsivity to begin their operation earlier, compensating for their delayed response characteristics and ensuring they reach the desired state by the required time.
Solution Approach 2:
The system dynamically adjusts the timing of motion requests based on individual actuator responsivity characteristics. Each actuator receives advance notice tailored to its specific response speed, allowing faster actuators to receive less advance notice while slower actuators receive more advance notice, optimizing overall system response without unnecessary complexity.
2Speed
If motion requests are output in advance based on future kinematic plans, then response time is improved, but device complexity increases
Solution Approach 1:
The manager acts as an intermediary between the arbitration unit and the actuators. It receives the second kinematic plan in advance, determines which actuators need preliminary motion requests based on their responsivity characteristics, and outputs appropriately timed commands. This intermediary function centralizes the complexity management while improving actuator response.
Solution Approach 2:
The system changes the timing parameter of motion requests based on actuator-specific responsivity information. By adjusting when each actuator receives its motion request relative to the actual need, the system optimizes response time without requiring fundamental changes to actuator design or control architecture.
3Adaptability or versatility
If responsivity information is stored and updated Over the Air, then adaptability is improved, but use of energy increases
Solution Approach 1:
Instead of continuous updates, the system uses periodic Over the Air updates for responsivity information. This allows the manager to maintain accurate actuator characteristics data without constant communication, reducing energy consumption while still adapting to changes in actuator performance over time.
Data Source
Figure 1~2
Figure 3A~3D
Figure 4A~4D
AI summary
A manager (10) includes one or more processors. The one or more processors are configured to receive a plurality of first kinematic plans from a plurality of electronic control units (la, lb, 1c) in each of which is implemented an advanced driver assistance system (ADAS) application function, receive a second kinematic plan following at least one of the first kinematic plans, arbitrate the first kinematic plans, calculate one or more motion requests based on an arbitration result, and output the one or more motion requests to one or more actuator systems (2, 3).