Vehicle Motion Control Device with Yaw Angular Acceleration Threshold
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Solution Overview
Problem
Existing vehicle motion control systems often execute unnecessary auxiliary pressure controls, leading to driver discomfort due to noise and vibration, and fail to stabilize the vehicle effectively in situations with gradual yawing behaviors, such as understeering or oversteering tendencies.
Innovation Solution
A motion control device that includes a braking system, steering angular velocity, and yaw angular acceleration sensors, which control brake torque based on predetermined values to execute preparatory control only when necessary, thereby avoiding unnecessary auxiliary pressure applications and enhancing vehicle stability during abrupt yawing behaviors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If auxiliary pressure control is executed based on steering angular velocity alone, then vehicle stabilizing control responsiveness is improved, but unnecessary brake applications occur causing driver discomfort
Solution Approach 1:
The system executes preparatory auxiliary pressure control before the main vehicle stabilizing control when abrupt yawing behavior is detected. By building up brake pressure in advance based on steering angular velocity and yaw angular acceleration thresholds, the system ensures the brake actuator is ready to respond immediately when stabilizing control is needed, eliminating delay while avoiding unnecessary continuous brake application.
Solution Approach 2:
The system dynamically adjusts the control strategy based on the rate of change of yawing behavior. When yaw angular acceleration exceeds a threshold, indicating abrupt changes, the system switches to executing preparatory auxiliary pressure control. When yawing behavior is gradual, the system avoids auxiliary pressure control. This dynamic adaptation resolves the contradiction by applying preparatory control only when truly necessary.
2Reliability
If preparatory control is executed to compensate actuator responsiveness, then vehicle stabilizing control effectiveness is improved, but noise and vibration are generated causing driver discomfort
Solution Approach 1:
The system performs preparatory auxiliary pressure control to build up brake pressure before the main stabilizing control is executed. This preliminary action ensures the brake actuator is fully responsive when needed, improving reliability. However, the system limits this preparatory control to specific conditions (abrupt yawing detected via yaw angular acceleration threshold), avoiding unnecessary preparatory control that would generate unwanted noise and vibration.
Solution Approach 2:
The system changes the control parameters dynamically based on detected vehicle behavior. When yaw angular acceleration exceeds a threshold, indicating abrupt yawing, the system activates preparatory control with specific pressure buildup rates. When yawing is gradual, the system deactivates preparatory control entirely. This parameter-based conditional execution ensures reliability when needed while minimizing harmful noise and vibration.
3Speed
If auxiliary pressure control is applied in gradual yawing conditions, then brake responsiveness is improved, but unnecessary brake applications occur
Solution Approach 1:
The system dynamically determines whether to execute preparatory auxiliary pressure control based on the detected yawing behavior characteristics. When yaw angular acceleration exceeds a threshold (indicating abrupt yawing), the system activates preparatory control to improve brake responsiveness. When yaw angular acceleration remains below the threshold (gradual yawing), the system deactivates preparatory control to avoid unnecessary energy consumption. This dynamic conditional execution resolves the contradiction between responsiveness and energy efficiency.
Solution Approach 2:
The system applies preparatory auxiliary pressure control as a preliminary measure only when abrupt yawing behavior is detected through yaw angular acceleration monitoring. This ensures brake responsiveness is improved precisely when needed for safety-critical situations. For gradual yawing conditions, the system skips the preparatory action entirely, avoiding unnecessary energy loss from auxiliary pressure application.
Data Source
AI summary
A motion control device for a vehicle, including a braking means for applying a brake torque to a wheel of the vehicle and maintaining a traveling stability of the vehicle by controlling the braking means, the motion control device for the vehicle, includes a steering angular velocity obtaining means for obtaining a steering angular velocity of the vehicle, a yaw angular acceleration obtaining means for obtaining a yaw angular acceleration of the vehicle, and a control means for controlling the brake torque on the basis of the steering angular velocity and the yaw angular acceleration.