Integrated Vehicle Motion Control for Steering Posture Stability
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing vehicle control systems fail to actively manage steering control, leading to passive generation of vehicle movements like lateral acceleration, rolling, and yaw rate with delays, which deteriorate ride comfort and operation feeling.
Innovation Solution
A vehicle movement control device that generates a target motion vector within a controllable range and integrally controls the operation amounts of actuators such as motors, suspensions, steers, brakes, and stabilizers to actively manage vehicle posture during steering.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If steering control is not actively managed, then the vehicle control system is simpler, but vehicle movements like lateral acceleration, rolling, and yaw rate are passively generated with delays, deteriorating ride comfort and operation feeling
Solution Approach 1:
The control system proactively generates target motion vectors for lateral acceleration, rolling, and yaw rate before steering execution, and pre-calculates required actuator operations (suspension, motor, brake) to eliminate passive delay effects and improve ride comfort
2Device complexity
If the arbitration order of control requests is fixed in the hierarchy of position, speed, and acceleration control, then the control structure is simpler, but incorporating steering control requests that occur intermittently becomes difficult
Solution Approach 1:
The system introduces a new arbitration dimension by allowing steering control requests to be inserted at appropriate positions in the arbitration hierarchy based on travel state, rather than being confined to a fixed position-speed-acceleration order, enabling flexible integration of intermittent steering commands
3Reliability
If the control system actively manages vehicle movement during steering, then ride comfort and operation feeling are improved, but the control system complexity increases
Solution Approach 1:
The control system merges steering control with the existing position-speed-acceleration arbitration hierarchy by integrating steering control requests into the same arbitration framework, allowing coordinated control of multiple actuators (suspension, motor, brake) through a unified control structure rather than separate independent systems
Data Source
Figure 1
Figure 2~3A
Figure 3B
AI summary
An object is to provide a vehicle movement control device that generates a target motion vector that falls within a desired controllable range in a motion space, and integrally controls an operation amount of each actuator to realize a vehicle movement defined by the target motion vector, thereby improving ride comfort and operation feeling. Provided is a vehicle movement control device that controls a vehicle movement by integrally controlling a plurality of actuators in accordance with a travel state, the vehicle movement control device including: a vehicle movement planning unit configured to generate a target motion vector based on input travel state information; an operation amount arbitration unit configured to calculate an operation amount of each actuator based on the target motion vector; and an actuator control unit configured to control each actuator based on the operation amount, in which the vehicle movement planning unit generates the target motion vector within a controllable range in a motion space acquired from the operation amount arbitration unit.