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首页> 外文期刊>SAE International Journal of Vehicle Dynamics, Stability, and NVH >Development of Decentralized Integrated Chassis Control for Vehicle Stability in Limit Handling
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Development of Decentralized Integrated Chassis Control for Vehicle Stability in Limit Handling

机译：分散的集成底盘的发展控制车辆的稳定极限处理

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摘要

As we move towards the world of autonomous vehicles it becomes increasingly important to integrate several chassis control systems to provide the desired vehicle stability without mutual interference. The principles for integration proposed in existing technical literature are majorly centralized which are not only computationally expensive but does not fit the current supplier based OEM business model. An Automotive OEM brings multiple suppliers on-board for developing the Active Safety systems considering several factors such as cost, quality, time, ease of business etc. When these systems are put together in the vehicle they may interfere with each other's function. Decoupling their function results in a need of heavy calibration causing performance trade-offs and loss in development time. This puts forward a need for an algorithm which integrates individual control systems supplied by different vendors and enable them to function simultaneously to meet the vehicle dynamics performance criteria. To recreate the above scenario, individual control systems viz. Electronic Stability Control (ESC), Active Front Steer (AFS) and Active Suspensions have been developed and validated independent of each other using Matlab Simulink and CarSim. Further, two integrated chassis control approaches have been proposed. The first approach involves fractionating the output signals of individual control systems based on a vehicle velocity based 'Relative Gain Array' approach. The second approach demonstrates a friction circle monitoring approach to operate the tire within friction limits. This paper will present control algorithms of the above proposed approaches. Finally, the proposed approaches are evaluated for their performance and robustness to variations.
机译：当我们走向自治的世界汽车变得越来越重要几个底盘控制系统集成提供所需的车辆的稳定性相互干扰。提出了现有技术的集成文学主要集中的不只计算昂贵但不适合当前基于OEM供应商的商业模式。车载汽车OEM带来多个供应商的主动安全系统考虑几个因素,如成本、质量、时间、缓解业务等。系统放在一起在车里相互干扰的功能。它们的功能需要重结果校准造成性能的权衡和开发时间。需要一个算法于一体的个体控制系统由不同的供应商提供使他们能够同时满足功能车辆动力学性能标准。重新创建上面的场景中,个人控制系统即电子稳定控制(ESC),活动前引导(AFS)和主动悬挂开发和验证独立的使用Matlab仿真软件和CarSim彼此。此外,两个底盘集成控制方法被提出。涉及分馏的输出信号个人根据车辆控制系统基于速度的相对增益阵列的方法。第二种方法演示了一个摩擦循环操作轮胎监测方法在摩擦范围之内。控制算法的上述提议方法。评估性能和鲁棒性变化。

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