Vehicle Steering Control for Abnormal Yaw Suppression
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Solution Overview
Problem
Vehicles experience unexpected yaw movements due to inconsistent wheel adhesion coefficients, leading to potential fishtailing and increased road safety risks, especially during abnormal driving conditions like sudden acceleration or emergency braking.
Innovation Solution
A control method that determines an adjustment amount based on the average yaw rate of a vehicle before an abnormal yaw occurs, using this adjustment to intervene in the vehicle's steering and reduce or suppress abnormal yaw, thereby enhancing safety and stability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If steering intervention is performed based on driver operation in abnormal situations, then steering control is provided, but drivers may exhibit dangerous behaviors such as sudden turns in panic, increasing safety risks
Solution Approach 1:
The system performs preliminary action by determining an expected yaw rate based on historical yaw rate data before abnormal situations fully develop. This allows the control system to prepare intervention strategies in advance, reducing reliance on panicked driver reactions and enabling smoother, more predictable steering corrections that maintain safety while preserving driver control
2Reliability
If intervention is performed continuously after abnormal yaw occurs, then abnormal yaw is suppressed, but driving experience is affected and normal steering operations are interfered with
Solution Approach 1:
The system implements periodic action by continuously monitoring yaw rate and dynamically adjusting intervention intensity. The control system applies steering intervention only when abnormal yaw is detected, and reduces or stops intervention when the vehicle returns to normal operation. This periodic approach maintains stability during critical moments while preserving natural driving experience during normal conditions
Solution Approach 2:
The system applies dynamics by making the intervention intensity adaptive rather than fixed. The control amount is dynamically adjusted based on real-time comparison between actual and expected yaw rates, allowing the system to provide strong correction when needed and smoothly transition to minimal or no intervention when the vehicle stabilizes, thus maintaining both safety and driving naturalness
Data Source
AI summary
A control method is applied to a vehicle, a robot, or the like that includes a rotating kit. The rotating kit is configured to implement movement of a device. The control method includes obtaining a first yaw rate, where when abnormal yaw occurs on the device, the first yaw rate is related to an average yaw rate of the device in a first time period, and the first time period is earlier than a moment at which the abnormal yaw occurs; obtaining an actual yaw rate of the device at a first moment, where the first moment is later than an end moment of the first time period; and determining, based on a first difference between the first yaw rate and the actual yaw rate, an adjustment amount for reducing the abnormal yaw.