Vehicle Turning Behavior Control Using Modified Steering Speed
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Solution Overview
Problem
Existing vehicle turning behavior control systems cause unnatural vehicle speed variations during rapid steering by increasing speed at the end of turning maneuvers, leading to uncomfortable driving experiences.
Innovation Solution
A vehicle turning behavior control apparatus that uses a modified steering speed, higher than the actual speed during deceleration, to limit turning behavior by continuously adjusting vehicle speed through a controlling section, ensuring the vehicle speed remains stable until the end of the turning maneuver.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the control system decreases vehicle speed by increasing target deceleration when steering speed exceeds a preset value, then the vehicle turning behavior is limited to the limit behavior corresponding to the steering speed, but the vehicle speed starts increasing before the end of turning steering when steering speed decreases to the preset value, causing unnatural and uncomfortable speed variations
Solution Approach 1:
The control system continues to use the higher steering speed value (obtained during the turning steering when steering speed was increasing) even after the actual steering speed decreases, maintaining the speed limitation effect until the turning steering ends. This preliminary action prevents the premature restoration of vehicle speed that would occur if the system immediately responded to the decreased steering speed, thereby avoiding unnatural speed variations during the turning maneuver.
Solution Approach 2:
The system dynamically adjusts which steering speed value to use based on the steering phase: during turning steering (when steering amount is increasing), it uses the current steering speed; during returning steering (when steering amount is decreasing), it switches to using the higher steering speed value obtained earlier. This dynamic switching resolves the contradiction by adapting the control parameter selection to the current steering phase, ensuring both reliable turning behavior limitation and natural speed variation.
2Speed
If the control system uses the current steering speed to determine target deceleration, then the system responds quickly to steering changes, but the target vehicle speed starts increasing during turning steering when steering speed decreases, causing unnatural speed variations
Solution Approach 1:
The system stores the higher steering speed value obtained during the turning steering phase before the actual steering speed decreases. By using this pre-stored higher value to continue determining the target deceleration, the system maintains the speed limitation effect throughout the entire turning steering maneuver, preventing premature speed restoration and ensuring stable vehicle speed control.
Solution Approach 2:
The system monitors the steering amount to detect the transition from turning steering to returning steering. Based on this feedback, it switches from using the current steering speed to using the stored higher steering speed value, and later switches back when the turning steering ends. This feedback-based switching ensures both quick response to steering changes and stable vehicle speed control throughout the maneuver.
Data Source
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AI summary
A vehicle turning behavior control apparatus comprises a controlling section which limits a turning behavior of a vehicle caused by a steering operation, to a limit behavior corresponding to an actual steering speed, by a vehicle speed decrease. The controlling section is configured to determine a modified steering speed in accordance with the actual steering speed, and to determine the limit behavior in accordance with the modified steering speed. The controlling section is further configured to make the modified steering speed higher than the actual steering speed when the actual steering speed decreases during a turning steering for increasing a steering amount. For example, the actual steering speed is used directly as the modified steering speed while the actual steering speed during the turning steering is increasing. While the actual steering speed during the turning steering is decreasing, the modified steering speed higher than the actual steering speed is used.