Vehicle Tilt Assist Control Using Attitude-Based Torque Blending
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Solution Overview
Problem
Extreme sports enthusiasts, particularly beginners, face challenges in controlling the tilt angle of vehicles with multiple wheels, as traditional methods rely heavily on operator skill, leading to unsafe tilting angles and potential vehicle overturning.
Innovation Solution
A method and device that combine a throttle torque instruction with attitude-based torque instructions, using weighted summation and proportional coefficients to control the tilt angle, ensuring it remains within a safe threshold, by outputting a third torque instruction to a motor controller.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the operator turns the throttle sharply to achieve a larger tilt angle, then the tilt angle increases, but the vehicle may overturn due to exceeding the safe angle
Solution Approach 1:
The control system continuously monitors the vehicle's tilt angle through attitude detection and uses this feedback to dynamically adjust the torque output. The controller compares the current tilt angle with the maximum safe tilt angle and adjusts the motor torque accordingly to prevent overturning while enabling controlled tilting maneuvers.
Solution Approach 2:
The system dynamically changes the torque parameter based on the vehicle's attitude. By adjusting the torque output according to the detected tilt angle, the system enables the vehicle to achieve desired tilt angles while maintaining safety margins and preventing excessive tilting that would cause overturning.
2Adaptability or versatility
If traditional operators rely on their own experiences to complete the tilting action, then the manipulation is flexible, but the requirements on manipulation and control ability are high
Solution Approach 1:
The control system acts as an intermediary between the operator's throttle input and the motor's torque output. It processes the operator's intent through the throttle assembly and automatically adjusts the torque based on vehicle attitude, bridging the gap between simple operator input and complex control requirements.
Solution Approach 2:
The system performs self-adjustment of torque based on detected vehicle attitude. The controller automatically modifies the torque output according to the current tilt angle without requiring the operator to manually calculate or adjust control parameters, enabling beginners to perform stunts with minimal expertise.
3Reliability
If the tilt angle is controlled to be within a safe threshold, then the vehicle stability is improved, but the tilt angle is limited
Solution Approach 1:
The system dynamically adjusts the torque output based on the real-time tilt angle. As the vehicle approaches the maximum safe tilt angle, the controller automatically reduces torque to prevent exceeding the safety threshold, while still allowing the vehicle to reach and maintain angles close to the limit under controlled conditions.
Data Source
AI summary
A method for assisting a vehicle to tilt includes: receiving a first torque instruction output by a throttle assembly, and generating a second torque instruction, in which the first torque instruction is determined based on a manipulation degree applied to the throttle assembly, and the second torque instruction is determined based on attitude information of the vehicle; performing a weighted summation on the first torque instruction and the second torque instruction based on a first proportional coefficient of the first torque instruction and a second proportional coefficient of the second torque instruction to obtain a third torque instruction; and outputting the third torque instruction to a motor controller, and controlling a tilt angle of the vehicle by the motor controller based on the third torque instruction, in which the tilt angle of the vehicle is less than or equal to a target angle threshold.