Vehicle Motion Control Allocating Steering Braking Torque
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Conventional vehicle motion controlling apparatuses fail to appropriately distribute controlled variables during vehicle turning while decelerating, leading to a high burden on the driver, as they often require manual operation of the brake pedal or steering wheel for urgent maneuvers.
Innovation Solution
A vehicle motion controlling apparatus with a control allocating unit, assist torque setting unit, and braking torque setting unit that cooperatively allocates steering and braking controls to achieve a desired vehicle turning motion by determining main and non-main requested values for controlled variables, generating specific assist and braking torques to assist steering and braking operations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If only steering control or only braking control is automatically performed, then the device complexity is reduced, but the driver's burden increases requiring large manual operations
Solution Approach 1:
The patent combines steering control and braking control into a unified cooperative control system. The control allocating unit integrates both control functions and distributes controlled variables to appropriate mechanisms based on driving conditions, enabling simultaneous or coordinated execution of steering and braking operations to reduce driver burden while managing system complexity
Solution Approach 2:
The control allocating unit serves multiple functions: it receives selection of main control type (steering or braking), allocates controlled variables to both steering and braking mechanisms, and determines main and non-main requested values. This multi-functional approach allows the system to handle various driving scenarios (urgent avoidance, deceleration assistance, cornering) with a single integrated control system
2Ease of operation
If cooperative steering and braking control is implemented, then the driver's burden is reduced, but the device complexity increases
Solution Approach 1:
The cooperative control system is segmented into distinct functional units: control allocating unit, assist torque setting unit, and braking torque setting unit. Each unit handles specific aspects of the control task, allowing complex cooperative control to be managed through modular, organized components that can be independently developed and maintained
Solution Approach 2:
The system dynamically adjusts the main and non-main requested values based on driving conditions and the selected main control type. The control allocating unit flexibly distributes controlled variables between steering and braking mechanisms according to real-time requirements, enabling adaptive cooperative control that responds to varying driving scenarios
3Manufacturing precision
If main and non-main requested values are determined for cooperative control, then the vehicle turning motion precision is improved, but the control complexity increases
Solution Approach 1:
The control allocating unit applies different quality levels to different control aspects by determining main requested values (achievable in the selected main control) and non-main requested values (difference between desired and main requested). This local differentiation allows precise allocation of control efforts to steering or braking based on specific driving conditions while maintaining overall system manageability
Data Source
AI summary
A vehicle motion controlling apparatus has an allocating unit for selecting steering or braking control mainly performed in cooperative control, receiving a desired value of vehicle turning motion, allocating steering and braking controls for the motion, determining main yaw rate from vehicle conditions, and determining a non-main yaw rate from difference between the desired value and the main yaw rate. Setting units set assist torque corresponding to the main yaw rate and braking torque corresponding to the non-main yaw rate when the steering control is selected and set braking torque corresponding to the main yaw rate and assist torque corresponding to the non-main yaw rate when the braking control is selected. The assist torque is generated for assisting a change of steering angle of vehicle in steering control. The braking torque is generated for applying braking force to wheel of vehicle in braking control.