Yaw Stability Control with Body-Force Heading Correction
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Solution Overview
Problem
Existing yaw stability control systems in vehicles are ineffective in correcting vehicle heading changes caused by body-force-disturbances, such as collisions or strong wind gusts, as they rely on tire-force-differentials and do not adequately intervene during large body-force-disturbances, leading to potential vehicle destabilization.
Innovation Solution
A yaw stability control system that includes a yaw rate sensor, a yaw rate model generator, a yaw rate error module, a yaw angle error module, and a body-force-disturbance sensor unit, which generates control signals to activate yaw actuators based on both yaw rate and yaw angle errors, specifically during a body-force-disturbance event to maintain vehicle stability and return it to its pre-disturbance heading.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If existing yaw stability control systems rely on tire-force-differentials to correct vehicle motion, then they can effectively control undesired vehicle motions under normal road conditions, but they become ineffective when subjected to body-force-disturbances such as collisions or strong wind gusts
Solution Approach 1:
The control system dynamically adapts its control strategy based on the detected disturbance type. During body-force-disturbance events, the system transitions from using only yaw rate error to combining yaw rate error with yaw angle error, creating a dynamic control adaptation that resolves the contradiction between maintaining reliability for tire-force-disturbances and gaining adaptability for body-force-disturbances
Solution Approach 2:
The system changes the control parameters by introducing yaw angle error as an additional control input when body-force-disturbance is detected. This parameter change allows the system to effectively respond to both tire-force-disturbances (using traditional yaw rate control) and body-force-disturbances (using combined yaw rate and angle control), thereby resolving the adaptability issue
2Stability of the object's composition
If yaw stability control systems activate yaw controls and reduce engine torque to counteract tire-force-disturbance, then they can maintain controlled vehicle operations, but they cannot adequately intervene or stabilize the vehicle when subjected to large body-force-disturbances
Solution Approach 1:
The system enhances feedback by incorporating yaw angle error in addition to yaw rate error when body-force-disturbance is detected. This dual-feedback mechanism provides more comprehensive information about the vehicle's rotational state, enabling the control system to generate more effective counteracting moments to restore stability after body-force-disturbances
Solution Approach 2:
The system performs preliminary detection of body-force-disturbance events and prepares the enhanced control strategy (combining yaw rate and angle errors) in advance. This preliminary action allows the system to quickly switch to the appropriate control mode, reducing the time the vehicle remains destabilized
3Ease of operation
If existing stability control systems focus on correcting yaw rate error, then they can maintain desired path of travel under normal conditions, but they fail to correct vehicle heading changes caused by body-force-disturbances
Solution Approach 1:
The system transitions from one-dimensional control (yaw rate error only) to two-dimensional control by incorporating yaw angle error as an additional control dimension. This dimensional expansion allows the system to address both the rate of yaw change and the actual heading deviation, providing precise correction for body-force-disturbances while maintaining ease of operation for normal path control
Data Source
AI summary
A yaw stability control system for a vehicle detects and eliminates the vehicle yaw angle resulting from a body-force-disturbance and returns the vehicle to a pre disturbance heading. A yaw rate module generates a signal indicative of the vehicle yaw rate error. A yaw angle error module is triggered in response to a body-force-disturbance being detected by a body-force-disturbance detection unit, and performs integrations of the yaw rate signals to calculate a yaw angle error in order to obtain a correction of the vehicle yaw angle resulting from the body-force-disturbance. A yaw control module uses the yaw angle error in combination with the yaw rate error for a limited time period to generate yaw control signals that are sent to the vehicle brakes and/or active steering system for performing vehicle yaw stability control operations a signal to perform a body-force-disturbance yaw stability control operation for.