Vehicle Motion Control Using Yaw and Translational Setpoints
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Solution Overview
Problem
Modern vehicle control systems, particularly those using steer-by-wire and similar technologies, face challenges in efficiently actuating different actuators with varying setpoint values to achieve combined effects and ensure redundancy in case of actuator failure, while existing solutions do not effectively distribute desired vehicle behavior across multiple actuators.
Innovation Solution
A vehicle system equipped with a setpoint value processing means that calculates yaw and translational acceleration setpoint values from input settings and transfers them to a vehicle movement controller to actuate available actuators, ensuring redundancy and adaptability, with a focus on torque-based and force-based actuation rather than position-based methods, utilizing sensors for feedback and a multiple input multiple output controller for efficient actuator management.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If multiple actuators are used with different setpoint value signals to achieve combined effects, then vehicle controllability and redundancy are improved, but the device complexity and control difficulty increase
Solution Approach 1:
The patent implements a universal control architecture where a single vehicle movement controller can manage multiple types of actuators (steering actuators, drive actuators, brake actuators) through a unified interface. The controller receives various setpoint value signals and distributes them appropriately to different actuators, enabling one control system to perform multiple functions and manage diverse actuator types without requiring separate specialized controllers for each actuator type.
Solution Approach 2:
The patent introduces a steering actuator as an intermediary component that can receive setpoint value signals and translate them into appropriate physical actions. This intermediary actuator serves as a mediator between the control system and the final execution mechanisms, enabling flexible distribution of control commands and facilitating the coordinated operation of multiple actuators with different functions.
2Ease of manufacture
If position-based actuation methods are used, then the control system is simple to implement, but the ability to achieve precise combined effects of multiple actuators is limited
Solution Approach 1:
The patent transitions from position-based control parameters to torque-based and force-based control parameters. Instead of controlling actuators solely by position setpoints, the system uses torque setpoint values and force setpoint values that can be directly applied to multiple actuators. This parameter change enables more precise control of the combined effects of multiple actuators while maintaining a relatively simple control architecture, as torque and force are fundamental physical quantities that directly influence vehicle dynamics.
Data Source
AI summary
A vehicle may have actuators, including a drive device with a drive motor that can act on a drive wheel, a brake device with a brake that can act on a drive wheel, and/or a steering device with a steering sensor by way of which the steering angle of a wheel is adjustable, a vehicle movement controller, and a setpoint value input means, a setpoint value processing means for detecting setpoint value settings of the setpoint value input means, to calculate a yaw acceleration setpoint value and translational acceleration setpoint values from the setpoint value settings. The setpoint value processing means may be configured to transfer the calculated yaw acceleration setpoint value and translational acceleration setpoint values to the vehicle movement controller, which is configured to actuate one or more of the actuators such that the yaw acceleration setpoint value and the translational acceleration setpoint values are reached.