Vehicle Behavior Control with Reaction Force Compensation
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Solution Overview
Problem
Existing vehicle behavior control systems face issues where the actuator output reaches its upper limit due to reaction forces during acceleration, deceleration, or steering, leading to a decrease in comfort and a prolonged period where active control is not possible.
Innovation Solution
A vehicle behavior control device that includes a controller to adjust the requested control force considering assumed reaction forces, using methods such as reducing the control force by a coefficient, applying a high-pass filter, or adjusting control gains to prevent the actuator output from exceeding its limit.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If position control is applied to the actuator, then the actuator can meet control requests, but the output may reach the upper limit due to reaction force components, causing active vehicle behavior control to become unavailable
Solution Approach 1:
The controller calculates the assumed reaction force in advance based on vehicle acceleration, deceleration, and steering states before performing position control. By predicting the reaction force component that will occur during vehicle maneuvers, the controller can pre-adjust the requested control force to prevent the actuator output from reaching its upper limit, thereby maintaining continuous active control availability
Solution Approach 2:
The controller applies a counteracting adjustment to the requested control force by subtracting the assumed reaction force. This preliminary anti-action compensates for the upcoming reaction force component, ensuring that the sum of the adjusted requested control force and the actual reaction force remains within the actuator's output capacity, thus preventing control unavailability
2Ease of operation
If the actuator applies control force through a torsion bar, then position control can be achieved, but the reaction force during vehicle maneuvers causes the output to reach the upper limit
Solution Approach 1:
The controller dynamically adjusts the requested control force parameter by calculating and subtracting the assumed reaction force based on vehicle acceleration, deceleration, and steering inputs. This parameter adjustment ensures that the actuator output remains within its capacity range while maintaining position control functionality, preventing the output from reaching the upper limit during vehicle maneuvers
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This approach shortens the period where the actuator output exceeds its limit, thereby improving comfort by ensuring continuous active vehicle behavior control.
Implementation Method 1
The actuator includes a transmission member configured to transmit a reaction force generated by deformation to the wheel
Data Source
AI summary
The vehicle behavior control device includes a controller and an actuator that applies a control force to wheels of the vehicle through position control by the controller. The actuator is configured to apply a control force to the wheel by deforming the transmission member. The controller is configured to calculate a required control force for the actuator, adjust the required control force in consideration of the assumed reaction force, and perform position control of the actuator based on the adjusted required control force. Here, the assumed reaction force is a reaction force generated in the transmission member due to at least one of acceleration/deceleration and steering of the vehicle when the position control of the actuator is zero.