Vehicle Motion Control Virtual Force Correction
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing vehicle motion control systems can cause driver discomfort due to abnormal sensor readings and estimation errors, leading to strange feelings during vehicle operation, especially in conditions like slow speeds or icy roads.
Innovation Solution
A vehicle motion control apparatus with a virtual-external-force-calculation controlling unit that adjusts the external force correction based on sensor detection conditions, prohibiting or reducing corrections when abnormal signals are detected to prevent excessive control and false operations, and using alternative values to maintain vehicle stability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If virtual external force is directly fed back to the motional model based on sensor signals and model calculations, then the control responsiveness and accuracy is improved, but when sensor signals are abnormal or estimation results are abnormal, the difference between model state quantity and actual state quantity becomes large causing driver discomfort
Solution Approach 1:
The control device performs preliminary checks on sensor signals and estimation results before using them for virtual external force calculation. By detecting abnormal conditions in advance and preventing their use in control calculations, the system avoids generating abnormal control forces that would cause driver discomfort, while maintaining high control accuracy under normal conditions
Solution Approach 2:
The control device introduces an intermediary checking mechanism between the sensor/estimation outputs and the virtual external force calculation. This intermediary layer validates the abnormality of input signals and selectively permits or blocks them from influencing the control output, thereby maintaining reliability without sacrificing control precision
2Stability of the object's composition
If excessive control is applied to correct abnormal sensor readings, then the system attempts to maintain vehicle stability, but it causes false operations and driver discomfort
Solution Approach 1:
The control device applies preliminary anti-action by detecting and preventing the use of abnormal sensor signals or estimation results before they can trigger excessive or false control corrections. By identifying abnormal conditions in advance and blocking their influence on control calculations, the system avoids generating harmful false operations while maintaining vehicle stability through valid control inputs
Data Source
AI summary
A vehicle motion control apparatus suppresses strangeness feeling in a driver when a signal from a sensor which detects an operated state quantity of a vehicle and a motional state quantity thereof is abnormal. The vehicle motion control apparatus includes a control unit, and sensors. An actual-state-quantity obtaining unit outputs a vehicle-body actual slip angle and an actual yaw rate to a deviation calculating unit. A reference dynamic-characteristic model calculating unit calculates a vehicle-body reference slip angle and a reference yaw rate using a dynamic-characteristic model and outputs those to the deviation calculating unit. A virtual external-force calculating unit feeds back a virtual external force to the reference dynamic-characteristic model calculating unit based on a deviation output by the deviation calculating unit. At this time, a virtual-external-force-calculation controlling unit controls correction of a virtual external force based on a signal indicating a detection condition output by the sensors.