Vehicle Motion Vector Control for Steering Ride Comfort
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Solution Overview
Problem
Existing vehicle movement control systems fail to actively manage steering control, leading to delayed lateral acceleration, rolling, and pitching, which deteriorate ride comfort and operation feeling during steering due to mechanical characteristics, and lack flexibility in incorporating steering control requests into the arbitration hierarchy.
Innovation Solution
A vehicle movement control device that generates a target motion vector within a controllable range in a motion space and integrates the operation of multiple actuators, including motors, suspensions, steers, brakes, and stabilizers, to actively control vehicle movements defined by the target vector, improving ride comfort and operation feeling.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If steering control is added to the arbitration hierarchy, then ride comfort and operation feeling are improved, but the device complexity increases due to integrating intermittent steering requests with continuous position, speed, and acceleration control requests
Solution Approach 1:
The control request arbitration device is designed to handle multiple types of control requests (position, speed, acceleration, and steering) through a unified arbitration hierarchy. The device can selectively arbitrate between different control requests based on vehicle state, making the system versatile and adaptable to various control scenarios without requiring separate arbitration mechanisms for each control type.
Solution Approach 2:
The arbitration hierarchy dynamically adjusts the processing order and priority of different control requests based on the vehicle's current state. When steering control requests occur intermittently, the system flexibly integrates them into the continuous arbitration flow of position, speed, and acceleration requests, optimizing the arbitration sequence to maintain responsiveness while managing complexity.
2Device complexity
If the arbitration order is fixed as position-speed-acceleration, then the control structure is simple, but flexibility is reduced when incorporating intermittent steering control requests
Solution Approach 1:
The arbitration order is made dynamic rather than fixed. The system can adjust the arbitration sequence based on the type and timing of control requests. When steering requests occur, the arbitration hierarchy flexibly repositions them within the processing sequence, allowing intermittent steering control to be properly integrated without disrupting the overall control flow or requiring a complete restructuring of the arbitration framework.
Solution Approach 2:
The arbitration process is segmented into different handling paths for continuous control requests (position, speed, acceleration) and intermittent steering requests. This segmentation allows each type of request to be processed according to its specific requirements while maintaining a unified arbitration structure, balancing structural simplicity with operational flexibility.
3Ease of operation
If active vehicle movement control is implemented during steering, then ride comfort is improved, but the manufacturing precision requirements increase for coordinating multiple actuators
Solution Approach 1:
The control request arbitration device incorporates feedback mechanisms that monitor the vehicle's actual movement state and compare it with the target state defined by control requests. This feedback enables real-time adjustment of actuator commands, compensating for variations in actuator performance and mechanical characteristics, thereby achieving coordinated actuator operation without requiring extremely tight manufacturing tolerances.
Solution Approach 2:
The arbitration device acts as an intermediary that translates high-level control requests into coordinated actuator commands. It mediates between the control objectives and the physical actuators, distributing control efforts appropriately across multiple actuators based on their capabilities and current states, which reduces the precision requirements for individual actuators while maintaining overall system performance.
Data Source
AI summary
A vehicle movement control device generates a target motion vector that falls within a desired controllable range in a motion space, and integrally controls a plurality of actuators to realize a vehicle movement defined by the target motion vector, thereby improving ride comfort and operation feeling. The vehicle movement control device that controls the 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.