Vehicle Steering Control Segmentation for Responsiveness
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Solution Overview
Problem
The command controller in existing vehicle control systems requires a significant amount of processing resources due to the need to generate control target values for multiple vehicle systems, leading to increased control periods that are not suitable for highly responsive controls.
Innovation Solution
A vehicle control system with an integrated control device that centrally controls multiple vehicle systems, including a steering control device, which executes first and second control processes. The integrated control device calculates steering control values while also calculating control values for other systems, while the steering control device executes highly responsive control processes without needing cooperation with other systems.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the command controller generates control target values for all vehicle systems, then centralized control coordination is achieved, but the control period increases and responsiveness decreases
Solution Approach 1:
The control functions are segmented into two parts: the command controller handles high-level coordination and generates control target values for multiple vehicle systems, while the actuator controller handles real-time execution of steering control. This segmentation allows each controller to focus on specific tasks, with the actuator controller executing steering control at a faster rate independent of the command controller's broader coordination cycle.
Solution Approach 2:
The actuator controller serves as an intermediary between the command controller and the steering actuator. It receives control target values from the command controller and translates them into real-time control commands for the steering actuator, enabling fast local execution while maintaining centralized coordination through the command controller.
2Adaptability or versatility
If the command controller executes all control processing, then centralized control is maintained, but processing resources are insufficient and control period increases
Solution Approach 1:
Processing responsibilities are segmented between the command controller and actuator controller. The command controller processes high-level control logic for multiple vehicle systems, while the actuator controller processes real-time steering control commands. This distribution of processing tasks prevents any single controller from being overwhelmed, improving overall processing efficiency while maintaining centralized control architecture.
Solution Approach 2:
The actuator controller performs self-service by independently executing steering control processing based on received control target values, without requiring continuous intervention from the command controller. This autonomous execution capability allows the actuator controller to handle real-time steering adjustments using its own processing resources.
3Adaptability or versatility
If the control period is extended to handle multiple vehicle systems, then comprehensive control is achieved, but responsiveness for individual systems deteriorates
Solution Approach 1:
The control execution timeline is segmented into two layers: the command controller operates on a longer control period for comprehensive vehicle system coordination, while the actuator controller executes steering control on a shorter, faster control period. This multi-layered time segmentation allows comprehensive control coverage at the command level while maintaining fast responsiveness at the actuator level.
Data Source
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AI summary
A vehicle control system (CCS) controls a plurality of vehicle systems (CS) including a vehicle steering system (STG). A first control process to be executed by an integrated control device (10) is a process of calculating a steering control value (θp*, Ts*), with a need for cooperation with a vehicle system (CS) other than the vehicle steering system (STG). A second control process to be executed by a steering control device (20) is a process of controlling the vehicle steering system (STG) to reflect the steering control value (θp*, Ts*) calculated by the integrated control device (10), without the need for cooperation with the other vehicle system (CS). The integrated control device (10) executes the first control process while executing a process of calculating a control value to be used to control the other vehicle system (CS). The second control process is a process of executing control that requires a higher responsiveness than the first control process.