Advanced Control Methods for Automotive Applications

This paper reviews key developments in applications of advanced control methods to automotive systems. Such applications appear in many aspects of vehicle controls. We will examine representative application areas, which include engines, suspension systems, traction systems, steering systems and those for automated highway systems (AHS). Each area is examined from the viewpoint of modeling and control algorithm development. Useful control theories for automotive application are briefly reviewed for better understanding of the applicability of these theories.     

Railway Wheel and Automotive Tyre

SUMMARY

In the present paper the theories of the railway wheel and the automotive tyre are discussed. After an introduction the paper opens with a discussion of the common ground, viz. the rolling motion of deformable bodies. Then the railway wheel is discussed, and it is shown that all aspects may be calculated numerically from the material constants Poisson's ratio, Young's modulus, and the coefficient of friction, and from the geometry of wheel and rail. Next the automotive wheel is considered. Such a wheel is very anisotropic, to the extent that the theory of the lateral motion (out-of-plane dynamics) is radically different from the longitudinal, or in-plane motion. Moreover, the analysis of the automotive wheel heavily relies on experiments. In the conclusion, the theories are compared.     

Literature review and fundamental approaches for vehicle and tire state estimation*

ABSTRACT

Most modern day automotive chassis control systems employ a feedback control structure. Therefore, real-time estimates of the vehicle dynamic states and tire-road contact parameters are invaluable for enhancing the performance of vehicle control systems, such as anti-lock brake system (ABS) and electronic stability program (ESP). Today's production vehicles are equipped with onboard sensors (e.g. a 3-axis accelerometer, 3-axis gyroscope, steering wheel angle sensor, and wheel speed sensors), which when used in conjunction with certain model-based or kinematics-based observers can be used to identify relevant tire and vehicle states for optimal control of comfort, stability and handling. Vehicle state estimation is becoming ever more relevant with the increased sophistication of chassis control systems. This paper presents a comprehensive overview of the state-of-the-art in the field of vehicle and tire state estimation. It is expected to serve as a resource for researchers interested in developing vehicle state estimation algorithms for usage in advanced vehicle control and safety systems.     

汽车总线通信协议探讨与比较

针对汽车电子控制系统和车载多媒体系统，探讨了汽车总线系统通信协议的技术特点和发展趋势。在对各类汽车总线进行比较和探讨的基础上，对其应用现状进行了分析。综合汽车工业特点对汽车总线协议的统一问题作了探讨。     

基于汽车启停系统的车载网络技术研究

本论文介绍了汽车启停技术的应用背景、控制原理,并介绍了汽车车载网络的应用,结合具体车型分析了车载网络技术在汽车启停系统中的应用。     

Observer Design for Electronic Suspension Applications*

SUMMARY

This paper proposes a new methodology for designing observers for automotive suspensions. Automotive suspensions are disturbance-affected dynamic systems. Semi-active suspensions are bilinear while active suspensions with hydraulic actuators are nonlinear. The proposed methodology guarantees exponentially convergent state estimation for both these systems. It uses easily accessible and inexpensive measurements. The fact that sprung mass absolute velocity of the suspension cannot be estimated in an exponentially stable manner with such measurements is also demonstrated.

Controllers using estimated states are implemented experimentally on the Berkeley Active Suspension Test Rig. Experimental results for two cases are presented : use of observer states to improve ride quality in an active suspension and use of observer states to reduce dynamic tire loading in a semi-active heavy vehicle suspension.     

A fast implementation of MPC-based motion cueing algorithms for mid-size road vehicle motion simulators

The use of dynamic driving simulators is constantly increasing in the automotive community, with applications ranging from vehicle development to rehab and driver training. The effectiveness of such devices is related to their capabilities of well reproducing the driving sensations, hence it is crucial that the motion control strategies generate both realistic and feasible inputs to the platform. Such strategies are called motion cueing algorithms (MCAs). In recent years several MCAs based on model predictive control (MPC) techniques have been proposed. The main drawback associated with the use of MPC is its computational burden, that may limit their application to high performance dynamic simulators. In the paper, a fast, real-time implementation of an MPC-based MCA for 9 DOF, high performance platform is proposed. Effectiveness of the approach in managing the available working area is illustrated by presenting experimental results from an implementation on a real device with a 200?Hz control frequency.     

Simulation methods supporting homologation of Electronic Stability Control in vehicle variants

ABSTRACT

Vehicle simulation has a long tradition in the automotive industry as a powerful supplement to physical vehicle testing. In the field of Electronic Stability Control (ESC) system, the simulation process has been well established to support the ESC development and application by suppliers and Original Equipment Manufacturers (OEMs). The latest regulation of the United Nations Economic Commission for Europe UN/ECE-R 13 allows also for simulation-based homologation. This extends the usage of simulation from ESC development to homologation. This paper gives an overview of simulation methods, as well as processes and tools used for the homologation of ESC in vehicle variants. The paper first describes the generic homologation process according to the European Regulation (UN/ECE-R 13H, UN/ECE-R 13/11) and U.S. Federal Motor Vehicle Safety Standard (FMVSS 126). Subsequently the ESC system is explained as well as the generic application and release process at the supplier and OEM side. Coming up with the simulation methods, the ESC development and application process needs to be adapted for the virtual vehicles. The simulation environment, consisting of vehicle model, ESC model and simulation platform, is explained in detail with some exemplary use-cases. In the final section, examples of simulation-based ESC homologation in vehicle variants are shown for passenger cars, light trucks, heavy trucks and trailers. This paper is targeted to give a state-of-the-art account of the simulation methods supporting the homologation of ESC systems in vehicle variants. However, the described approach and the lessons learned can be used as reference in future for an extended usage of simulation-supported releases of the ESC system up to the development and release of driver assistance systems.

Abbreviations: ABS: Anti-lock braking system; ADR: Australian design rules; ALB: Automatic load-dependent brake force controller; AMEVSC: Alternative method to assess the electronic vehicle stability control system; APP: Application; BSC: Brake slip controller; CAE: Computer-aided engineering; CAN: Controller area network; CAT: Category; CoG: Centre of gravity; DIN: Deutsches Institut für Normung (German Institute for Standards); EB+: Trademark of Haldex; EBD: Electronic brake force distribution; EBS: Electronic brake system; ECU: Electronic control unit; ESC: Electronic stability control; ECVWTA: European Community Whole Vehicle Type Approval; FMVSS: Federal motor vehicle safety standards; GPS: Global positioning system; GRRF: Groupe de travail en matiere de roulement et de freinage (Working Party on Braking and Running Gear); HiL: Hardware-in-the-Loop; HSRI: Highway Safety Research Institute; K&C: Kinematic and compliant (KnC); MBS: Multibody systems; MPV: Multipurpose vehicle; NHTSA: National Highway Traffic Safety Administration; OEM: Original equipment manufacturer; SiL: Software-in-the-Loop; ST: Summer tyres; STM: Single track model; StVO: Straßenverkehrsordnung (Government Highway Regulations); SUV: Sports utility vehicle; SW: Software; SwD: Sine with dwell manoeuvre; TC: Threshold consumption value; TCS: Traction control system; TRIAS: Test Requirements and Instructions for Automobile Standards; UN/ECE: United Nations Economic Commission for Europe; VAF: Value-added function; VDC: Vehicle dynamics controller; VTC: Vehicle test catalogue; WT: Winter tyres     

用于车内减振降噪的智能材料和结构的研究

随着国内外对智能材料和结构研究的日益深入，这一高新技术在汽车工业中的应用前景显示越来越广阔，分析了汽车车内噪声产生的机理，认为利用智能结构进行车内噪声控制主要从三个方面入手：一是消除噪声源；二是隔绝振源与车身之间的振动传递关系，阻断固体传播；三是进行车身振动的主动控制，通过减少振动来消除噪声，对智能材料和结构在汽车减振降噪领域的应用作了探讨和展望。     

常用的汽车电子控制系统故障诊断方法

电子控制系统的大量应用显著提高了汽车性能,但同时其结构日趋复杂也带来了故障诊断与维修更加困难的问题。针对汽车电子控制系统的特点,论述了直观诊断法,故障码查询法,数据流分析法,波形分析法,电路分析法在汽车电子控制系统故障诊断中的应用,并列举了部分典型实例。     

汽车结构用钢的进展

概述了汽车结构钢的研究进展，列举了与提高汽车、发动机可靠性相关的合金结构钢、调质钢、非调质钢、渗碳钢等钢种的发展；较详细论述了与汽车的轻量化、节能、降低排放、提高安全性等密切相关的高强度钢和先进高强度钢的研究概况、典型应用以及今后的发展趋势。     

汽车电子技术展望

综述先进电子信息技术覆盖、融入汽车各系统的概况,其应用发挥着高精度、高效率、高可靠的控制功能。内容涵盖动力传动系统、行驶状态控制、安全性、舒适性、信息娱乐系统、系统控制诊断与故障分析等;详细介绍汽车电子技术的核心要求和特点,以及汽车电子产业的现状与展望。     

日本汽车金属材料应用发展及变化特征

汽车新技术的采用以及高附加零部件的使用无不和新材料开发密切相关。在日本汽车产业发展中,新材料的开发使用始终起着重要的作用,材料的应用发展也有着不同的变化和特点。从汽车材料的应用和发展等方面介绍了日本材料使用状况。     

Active Suspensions Based on Fast Load Levelers

SUMMARY

A class of active suspensions is presented which provides near optimum isolation of base motion as well as zero static deflection for force disturbances using a simple type of feedback. The load leveling effect is rapid with the system stabilized using isolated mass velocity feedback both for a semi-active damper and for the load leveler. The system can be made energy conservative and fail safe since the system reverts to a reasonable passive isolator if the load leveling effect and even if the active damping effect is switched off. The system could be incorporated in automotive vehicles with some extension of the feedback control to account for several aspects of body motion.     

汽车底盘控制技术的现状和发展趋势

电子控制系统在汽车底盘技术中的广泛应用极大地改善了汽车的主动安全性。常见的底盘控制系统可分为制动控制、牵引控制、转向控制和悬挂控制。介绍通过高速网络将各控制系统联成一体形成的全方位底盘控制(GCC),汽车开放性系统构架工程(AUTOSAR)和底盘的线控技术(X-by-w ire)。     

An Active Roll-Moment Control Strategy for Narrow Tilting Commuter Vehicles

SUMMARY

An automatic tilt control strategy for a narrow commuter vehicle is described. Such a vehicle would be enclosed like a conventional car but would bank into turns like a motorcycle and so it would feel quite unconventional to drive. The proposed tilt control system uses the steering to tilt the car over like a motorcycle but this is augmented by actively generating a rolling moment about the pivot axis between the tilting upper body and non-tilting base. The provision of this active direct tilt control enables the vehicle to remain upright at low or zero speed and also permits the designer to fine tune the transient roll response. Although it appears complex the proposed tilting control relies on only a few simple sensor measurements, some modest, microprocessor based signal processing and low power, low bandwidth steering and tilt control actuators which might be derived from existing automotive components.     

Evaluating Headway Control Using Range Versus Range-Rate Relationships

SUMMARY

This paper uses range versus range-rate diagrams to illustrate concepts concerning the objectives of headway control, linear trajectories in the range versus range-rate space, and the influences of acceleration/deceleration limits on headway control systems. Relationships illustrated in range versus range-rate diagrams are used in evaluating first, second, and higher order systems for automatically controlling headway. Ideas for comparing driver control of headway with automatic control of headway are presented.     

汽车微机控制系统可靠性问题的探讨(Ⅰ)

介绍了国外汽车微机控制系统的应用及先进水平，分析了汽车电子装置所处的特殊工作环境。从整体可靠性设计、硬件可靠性设计及软件可靠性设计等方面，重点论述了汽车微机控制系统的可靠性设计问题，并对使用微机控制系统应注意的问题进行了阐述。     

The Application of Linear Optimal Control Theory to the Design of Active Automotive Suspensions

SUMMARY

Some linear stochastic control theory relevant to the design of active suspension systems subject to integrated or filtered white noise excitation is reviewed, and application of the theory to a particular problem is considered. The problem considered is the well known quarter car problem in which a control law which minimises a performance function representing passenger discomfort, suspension working space, and tyre load fluctuations is required. With full state feedback, the requirement for a formulation of the problem which leads to the system under consideration being observable and controllable is referred to, and it is shown how a well known coordinate transformation enables this requirement to be satisfied. With limited state (or output) feedback, problem formulations which will avoid potential numerical problems in deriving the optimal control are described. Example solutions are included in order to illustrate the methods.     

Accelerated Service Life Testing of Automotive Vehicles on a Test Course

SUMMARY

The accelerated service life testing of automotive vehicles for durability to road roughness induced dynamic loads is often accomplished in the laboratory using road roughness simulation facilities [1–5]. However, such tests can also be accomplished by a carefully designed field operation on a test course [6], where both the speed of the vehicle and the roughness of die test course become variables that control the degree of the test acceleration. Field tests are generally harder to control than laboratory tests, but offer a greater degree of realism since the vehicle is fully operational during the test exactly as it will be in service. This paper formulates the criteria for accelerated service life tests on a test course, evaluates the assumptions that must be enforced to obtain valid results, and explores the sensitivity of the results to the critical test parameters, namely, the vehicle speed and the road roughness severity of the test course relative to the service environment.