Optimal corner control for vehicles
View Patent ↗A method to control a vehicle having a plurality of wheels includes monitoring desired vehicle dynamics, determining a desired corner force and moment distribution based upon the desired vehicle dynamics and a real-time closed form dynamics optimization solution, and controlling the vehicle based upon the desired corner force and moment distribution. The real-time closed form dynamics optimization solution is based upon a minimized center of gravity force error component, a minimized control energy component, and a maximized tire force reserve component.
1. Method to control a vehicle having a plurality of wheels, comprising:
monitoring desired vehicle dynamics;
determining a desired corner force and moment distribution based upon the desired vehicle dynamics and a real-time closed form dynamics optimization solution; and
controlling the vehicle based upon the desired corner force and moment distribution;
wherein the real-time closed form dynamics optimization solution is based upon:
a minimized center of gravity force error component;
a minimized control energy component; and
a maximized tire force reserve component.
2. The method of claim 1 , wherein determining the desired corner force and moment distribution based upon the real-time closed form dynamics optimization solution comprises:
defining a cost function as the sum of the minimized center of gravity force error component, the minimized control energy component, and the maximized tire force reserve component;
minimizing the cost function, assuming a derivative of the cost function with respect to a corner force variation equal to zero, to solve for the corner force variation; and
utilizing the corner force variation to determine the desired corner force and moment distribution.
3. The method of claim 1 , wherein the real-time closed form dynamics optimization solution is further based upon those wheels of the vehicle having active steering.
4. The method of claim 1 , wherein the real-time closed form dynamics optimization solution is further based upon those wheels of the vehicle having braking.
5. The method of claim 1 , wherein the real-time closed form dynamics optimization solution is further based upon those wheels of the vehicle having traction.
6. The method of claim 1 , further comprising monitoring corner-based real-time constraints; and
wherein determining the desired corner force and moment distribution is further based upon the corner-based real-time constraints.
7. The method of claim 6 , wherein the corner-based real-time constraints comprise corner states of health and corner capacities.
8. The method of claim 1 , wherein controlling the vehicle based upon the desired corner force and moment distribution comprises generating commands to each of a plurality of vehicle systems based upon the desired corner force and moment distribution.
9. The method of claim 8 , wherein generating commands to each of the plurality of vehicle systems comprises sending commands to a braking system.
10. The method of claim 8 , wherein generating commands to each of the plurality of vehicle systems comprises sending commands to a steering system.
11. The method of claim 8 , wherein generating commands to each of the plurality of vehicle systems comprises sending commands to a suspension system.
12. The method of claim 8 , wherein generating commands to each of the plurality of vehicle systems comprises sending commands to a powertrain comprising a torque generative device.
13. The method of claim 8 , wherein generating commands to each of the plurality of vehicle systems is further based upon real-time actuator-based constraints.
14. The method of claim 13 , wherein the real-time actuator based constraints comprise energy capacity constraints and actuator limit constraints.
15. Method to control a vehicle, comprising:
monitoring desired vehicle dynamics;
determining a desired corner force and moment distribution based upon the desired vehicle dynamics and a real-time closed form dynamics optimization solution; and
controlling a braking system, a suspension system, and a steering system based upon the desired corner force and moment distribution;
wherein the real-time closed form dynamics optimization solution is based upon:
minimizing a center of gravity force error component;
minimizing a control energy component; and
maximizing a tire force reserve component.
16. Apparatus to control a vehicle, comprising:
a corner force distribution module:
monitoring desired vehicle dynamics;
determining a desired corner force and moment distribution based upon the desired vehicle dynamics and a real-time closed form dynamics optimization solution; and
controlling the vehicle based upon the desired corner force and moment distribution;
wherein the real-time closed form dynamics optimization solution is based upon:
a minimized center of gravity force error component;
a minimized control energy component; and
a maximized tire force reserve component.
17. The apparatus of claim 16 , wherein the corner force distribution module comprises:
a vehicle dynamics module
monitoring the desired vehicle dynamics; and
determining a desired vehicle force and moment; and
a corner dynamics control module:
monitoring the desired vehicle force and moment; and
determining the desired corner force and moment distribution.