Vehicle Motion Control with Actuator-Limited Turning Allocation
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Solution Overview
Problem
Existing vehicles with multiple actuators may face issues when some actuators cannot be activated normally, hindering smooth turning operations.
Innovation Solution
A motion control device that sets motion amount limit values for each actuator based on its availability, allowing the vehicle to adjust actuator activation ranges and command values to ensure smooth turning even with anomalies, using a request value acquisition unit, limit value setting unit, and command units for front, rear wheel steering, and longitudinal force adjustment actuators.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the vehicle uses multiple actuators for turning operations, then the turning capability and maneuverability are improved, but the system complexity and vulnerability to actuator failures increase
Solution Approach 1:
The patent segments the turning control function across multiple independent actuators (front wheel steering actuator, rear wheel steering actuator, longitudinal force adjustment actuator). Each actuator can operate independently within its own control range, allowing the system to maintain turning capability even when some actuators fail, while avoiding the need for a single complex actuator system
2Productivity
If the vehicle activates all available actuators for turning, then the turning performance is improved, but the risk of actuator failure and system reliability issues increase
Solution Approach 1:
The patent implements dynamic actuator selection based on real-time system state. The control device determines which actuators are available and functional, then dynamically adjusts the motion amount limit values for each actuator. This allows the system to optimize turning performance using only the actuators that are currently operational, avoiding activation of failed actuators and thus maintaining reliability while preserving productivity
3Measurement precision
If the system limits motion amount for each actuator, then the control precision and stability are improved, but the overall turning range may be restricted
Solution Approach 1:
The patent merges the contributions of multiple actuators to achieve the overall turning motion. Each actuator operates within its own motion amount limit value to ensure precise and stable control, but the combined effect of multiple actuators working together achieves the total required turning range. The control device calculates individual command values for each actuator based on the motion amount request value and their respective limit values, ensuring both precision and sufficient range
Data Source
AI summary
A motion control device includes a request value acquisition unit that obtains a motion amount request value, a limit value setting unit that sets first to third motion amount limit values, a first command unit that sends a first motion amount command value based on the motion amount request value and a first motion amount limit value to a front wheel steering controller, a second command unit that sends a second motion amount command value based on a first remaining request value and a second motion amount limit value to a rear wheel steering controller, and a third command unit that sends a command corresponding to a third motion amount command value based on a second remaining request value and a third motion amount limit value to a driving controller and a braking controller.