Vehicle Steering Control Switching Torque and Angle Modes
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Solution Overview
Problem
Current vehicle traveling control systems face challenges in achieving effective steering control, particularly in maintaining alignment with a target course while minimizing driver override and interference, especially in varying road conditions.
Innovation Solution
A vehicle traveling control apparatus that includes a calculator for determining a target steering angle based on the course shape, a first controller for performing torque-based steering control prioritizing driver override, a second controller for feedback-based steering angle correction, and a switcher for switching between torque and angle control based on course curvature, along with a third controller for distributing braking/driving force to correct yaw moment and maintain course alignment.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If torque-based steering control is used to prioritize driver override, then driver operation freedom is improved, but steering accuracy deteriorates
Solution Approach 1:
The system dynamically switches between torque control mode (for driver override priority) and angle control mode (for steering accuracy) based on the curvature of the target course. This dynamic adaptation resolves the contradiction by applying the appropriate control strategy according to driving conditions.
Solution Approach 2:
The control mode is changed based on the parameter of target course curvature. When curvature is small (straight roads), torque control is used to prioritize driver override. When curvature is large (sharp turns), angle control is used to ensure steering accuracy.
2Measurement precision
If feedback control is used to reduce displacement from target course, then course following accuracy is improved, but interference with driver operation increases
Solution Approach 1:
The system dynamically adjusts the level of feedback control based on driving conditions. In torque control mode, feedback is provided as yaw moment to subtly correct course without interfering with driver steering. In angle control mode, stronger feedback is applied when high accuracy is needed.
Solution Approach 2:
The system uses yaw moment control as an intermediary mechanism to achieve course correction without directly interfering with the steering wheel operation. The yaw moment acts on the vehicle's rotation rather than the steering input, providing subtle course guidance.
3Device complexity
If single mode steering control is used to simplify system structure, then device complexity is reduced, but adaptability to varying road conditions deteriorates
Solution Approach 1:
The system implements dynamic switching between torque control mode and angle control mode based on target course curvature. This allows the system to adapt to varying road conditions (straight roads vs. sharp turns) while maintaining a relatively simple dual-mode control structure.
Solution Approach 2:
The control system is designed to perform multiple functions through two control modes: torque control for driver-friendly operation on straight roads, and angle control for accurate steering on curved roads. This multi-functionality achieves adaptability without requiring entirely separate control systems.
Data Source
AI summary
A vehicle traveling control apparatus includes a calculator, a first controller, a second controller, a switcher, and a third controller. The calculator is configured to calculate a target steering angle, on a basis of a shape of a target course. The first controller is configured to perform a first steering control. The second controller is configured to perform a second steering control. The switcher is configured to switch, on a basis of the shape of the target course, between the first steering control and the second steering control. The third controller is configured to calculate, on a basis of a feedback control amount, a yaw moment to be added to an own vehicle, and control, on a basis of the calculated yaw moment, a distribution of braking/driving force to be distributed to wheels of the own vehicle. The feedback control amount causes the own vehicle to travel while allowing a displacement amount of the own vehicle relative to the target course to be reduced.