Vehicle Motion Control Adjusting Deceleration During Lateral Transitions
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Solution Overview
Problem
Existing vehicle motion control systems, such as those using M+ control, often cause uncomfortable deceleration in drivers, especially when the driver expects acceleration, and fail to detect driver intention in scenarios like adaptive cruise control or automatic driving where pedal operation is absent.
Innovation Solution
A vehicle motion control device that adjusts the deceleration generated during lateral motion changes to be smaller when transitioning from one lateral motion state to another, without relying on driver pedal operation, by predicting the lateral motion and adjusting the YAW moment control accordingly.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If M+ control is implemented using ESC braking actuator to generate YAW moment, then YAW motion control is achieved, but unintended deceleration occurs causing driver discomfort
Solution Approach 1:
The control gain of the M+ control is dynamically changed based on accelerator pedal operation detection. When the driver steps on the accelerator, the control gain is reduced or set to zero, suppressing the deceleration effect. This parameter adjustment allows the system to maintain YAW moment control capability while avoiding unwanted deceleration during acceleration scenarios
Solution Approach 2:
The system incorporates feedback from accelerator pedal operation sensors to detect driver intention. This feedback mechanism allows the control system to adapt the M+ control gain in real-time based on driver input, preventing unintended deceleration when the driver expects acceleration
2Device complexity
If M+ control is implemented without pedal operation detection, then system simplicity is maintained, but driver intention cannot be detected in automatic driving scenarios
Solution Approach 1:
The control system is designed to handle multiple driving scenarios (manual and automatic driving) using a unified approach. By detecting accelerator pedal operation when available, the system can infer driver intention across different driving modes, making the intention detection mechanism universally applicable without requiring separate systems for each scenario
3Object-affected harmful factors
If control gain of M+ control is reduced based on accelerator pedal operation, then deceleration discomfort is suppressed, but control responsiveness may be degraded
Solution Approach 1:
The control gain is made dynamic rather than fixed, adjusting in real-time based on accelerator pedal operation. This dynamic adjustment allows the system to optimize between comfort and responsiveness depending on the driving scenario, maintaining high responsiveness when the pedal is not pressed and suppressing deceleration effects when the pedal is pressed
Data Source
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AI summary
An object of the invention is to realize an M+ control which is suitable to a driving scene without depending on pedal operation information of a driver. A vehicle motion control device according to the invention sets an absolute value of deceleration generated in the vehicle in a period in which the lateral motion of the vehicle is predicted to be changed from a state where the vehicle takes the lateral motion to a state where the vehicle does not take the lateral motion to be smaller than that generated in a period in which the lateral motion of the vehicle is predicted to be changed from a state the vehicle takes one of right and left lateral motions to a state where the vehicle takes the other lateral motion (see FIG. 5).