Integrated Vehicle Stability Control Using Model Predictive Differential Braking
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Solution Overview
Problem
Autonomous vehicles face challenges in maintaining lateral stability on desired trajectories, as existing ESC systems are not optimized for predictive motion control, leading to inefficiencies and increased costs due to separate modules for human driver-based and autonomous vehicle control.
Innovation Solution
A vehicle control system that integrates ESC with autonomous motion control using a Model Predictive Control (MPC) algorithm, which receives planned trajectory data and current vehicle state information to determine actuator commands, including differential braking, to correct for deviations and ensure stability, while minimizing passenger discomfort and optimizing resource usage.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If separate ESC system and AV motion control module are maintained, then existing ESC system compatibility is preserved, but system complexity and cost increase
Solution Approach 1:
The patent integrates the ESC system and AV motion control module into a unified control system. The processor executes both ESC functions and motion control functions, merging previously separate modules. This integration maintains ESC compatibility while reducing overall system complexity and eliminating the need for separate control pathways between human drivers and autonomous systems.
Solution Approach 2:
The control system is designed to perform multiple functions: traditional ESC operations for human-driven modes and predictive motion control for autonomous modes. The same processor and control architecture handle both human driver inputs and autonomous trajectory planning, creating a universal system that adapts to different operating modes without requiring separate dedicated modules.
2Device complexity
If traditional ESC system is used without predictive control, then system simplicity is maintained, but lateral stability on desired trajectory deteriorates
Solution Approach 1:
The system uses predictive control to anticipate future vehicle states and trajectory deviations before they occur. By calculating predicted vehicle position and heading at future time points and comparing them with the desired trajectory, the system proactively applies corrective differential braking forces. This preliminary action prevents lateral instability rather than merely reacting to it, enhancing stability while building upon the simple ESC foundation.
3Stability of the object's composition
If differential braking is applied for trajectory correction, then lateral stability is improved, but actuator coordination complexity increases
Solution Approach 1:
The system implements a closed-loop feedback control mechanism where the processor continuously monitors actual vehicle position and heading, compares them with predicted values and desired trajectory, and adjusts differential braking forces accordingly. This feedback loop automatically coordinates actuator forces based on real-time performance, simplifying the complexity of multi-actuator coordination by relying on automated control algorithms rather than complex mechanical linkages.
Data Source
AI summary
Methods and system for vehicle control. The methods and systems determining actuator commands data based on a vehicle stability and motion control function. The vehicle stability and motion control function having planned trajectory data, current vehicle position data and current vehicle heading data as inputs, having the actuator commands data as an output and utilizing a model predicting vehicle motion including predicting vehicle heading data and predicting vehicle position data. The actuator commands data includes steering and propulsion commands. The actuator commands data includes differential braking commands for each brake of the vehicle to correct for any differential between the planned vehicle heading and the current vehicle heading data or the predicted vehicle heading data. The methods and systems output the actuator commands data to the actuator system.