Fault Diagnostics for GPS-based Lateral Vehicle Control

Summary This paper develops a fault diagnostic system to monitor the health of the lateral motion sensors on an instrumented highway vehicle. The fault diagnostic system utilizes observer design with the observer gains chosen so as to ensure that each sensor failure causes estimation errors to grow in an unique direction. The performance of the fault diagnostic system is verified through extensive experimental results obtained from an instrumented truck called the “Safetruck”. The fault diagnostic system is able to monitor the health of a GPS system, a gyroscope and an accelerometer on the Safetruck. It can correctly detect a failure in any one of the three sensors and accurately identify the source of the failure. A GPS-based geographic database containing information on road coordinates, curvature and bank angles plays a key role in ensuring accurate experimental performance of the observers.     

车辆横向稳定性控制研究

介绍车辆横向稳定性控制研究的发展历程,分析各种控制方法和理论在横向稳定性方面的应用,以及各自的特点及局限性,并提出了预测控制发展前景。     

无人驾驶车辆侧向鲁棒控制的研究

介绍了车辆模型，提出了一种侧向鲁棒控制器的设计方法，给出了道路曲率的平滑算法及闭环系统的仿真结果，并进行了跟踪误差分析。各种工况下的仿真结果表明，该方法设计的鲁棒控制系统能够同时满足精确道路跟踪、良好的舒适性以及抗多种干扰的鲁棒性等多项性能要求。     

A Reusability Study of Vehicle Lateral Control System

SUMMARY

The architecture of the PATH vehicle lateral control system is presented in this paper. The two main modules are an intelligent reference/sensing system, and an Frequency-Shaped-Linear-Quadratic/preview control algorithm. The whole lateral control system was formerly evaluated on a two-door test vehicle. It was transplanted to a four-door vehicle which is considerably different from the older two-door test vehicle in dynamic characteristics. The objective of this study is to investigate the reusability of our control system.     

A Reusability Study of Vehicle Lateral Control System

The architecture of the PATH vehicle lateral control system is presented in this paper. The two main modules are an intelligent reference/sensing system, and an Frequency-Shaped-Linear-Quadratic/preview control algorithm. The whole lateral control system was formerly evaluated on a two-door test vehicle. It was transplanted to a four-door vehicle which is considerably different from the older two-door test vehicle in dynamic characteristics. The objective of this study is to investigate the reusability of our control system.     

Two-Degree-of-Freedom H8 Optimization and Scheduling for Robust Vehicle Lateral Control

In this paper, the problem of automatic vehicle steering is addressed using a two-degree-of-freedom loop shaping procedure. The controller is split into two parts. The closed loop part achieves the robust stability requirement while the prefilter part processes the reference signal and is designed to achieve model matching. The whole synthesis procedure is emphasized and the controller is tested in various situations with several system parameter variations. The observer structure of the controller is finally exploited in order to consider scheduling controllers according to vehicle speed variations. The advantages of the controller scheduling are outlined with some simulation results.     

Two-Degree-of-Freedom H8 Optimization and Scheduling for Robust Vehicle Lateral Control

In this paper, the problem of automatic vehicle steering is addressed using a two-degree-of-freedom loop shaping procedure. The controller is split into two parts. The closed loop part achieves the robust stability requirement while the prefilter part processes the reference signal and is designed to achieve model matching. The whole synthesis procedure is emphasized and the controller is tested in various situations with several system parameter variations. The observer structure of the controller is finally exploited in order to consider scheduling controllers according to vehicle speed variations. The advantages of the controller scheduling are outlined with some simulation results.     

自动公路系统横向控制研究

在分析了国内外自动公路系统（AHS）研究现状的基础上，着重对以磁性道钉导航方式的车辆横向控制原理进行了阐述，建立了自动公路系统车辆横向控制模型结构，并以神经网络为例描述了其实现方法，最后探讨了我国研究自动公路系统的思路。     

基于横向预瞄偏差的驾驶员前视轨迹控制模型

文章给出了横向预瞄偏差的概念，提出了一种基于横向预瞄偏差的驾驶员前视轨迹控制模型。通过计算机仿真，验证了该控制模型的正确性。该模型与现行的预瞄驾驶员模型相比，具有理解容易，分析计算简单，实用性强的优点。     

电动汽车驱动电机控制系统故障维修

在可持续发展理念下,电动汽车正在以一种势不可挡的趋势迅速在市场上崛起,更在我国扶持政策层出不穷的背景下,慢慢走进了人们的视线,未来发展不可限量.文章探究的主题是电动汽车驱动电机控制系统故障维修,深入其中进行探究并总结,对电动汽车稳步与长远发展有着深远意义.     

电控汽车故障诊断误区

电子控制系统的应用,在提高汽车动力性的同时,使燃油的经济性、汽车排放性得到良好的改善,但也使汽车故障诊断变得复杂起来.汽车故障自诊断系统的开发应用,给汽车驾驶和维修人员在汽车运行中及时发现和排除故障提供了方便.汽车维修人员通过解读故障代码,一般都能判明故障可能发生的原因和部位.然而,在维修汽车时,若仅靠故障代码寻找故障,往往会出现判断上的失误.实际上,故障代码仅是汽车电子控制器(ECU)认可的一个是或否的界定结论,不一定是汽车真正的故障部位.因此,维修电控汽车时应综合分析判断,结合汽车故障现象来寻找故障部位.电控汽车故障自诊断系统,一般由ECU中的识别故障及故障运行控制软件、故障监测电路和故障运行后备电路等组成.不同厂家生产的汽车,其故障自诊断系统的故障检测项目不尽相同,故障代码储存和显示方式也有所不同.故障代码储存在随机储存器(RAM)中,随机储存器与蓄电池直接相连,故障代码可长期保存,清除故障代码需要断开专门的随机储存器连接电路或者直接断开蓄电池.目前,解读电控汽车故障代码大多是通过3种方式来获取的:第1种是靠仪表盘上的故障指示灯间隔闪烁次数来读取;第2种是借助于专用的车型解码仪直接读取故障代码;第3种是靠国内厂家生产的故障代码分析仪,以汉显的方式读取故障代码的汉语文字说明.显而易见,以汉语文字的方式获得故障代码的故障含义,是广大汽车维修人员普遍青睐的一种方式.而前2种读码方式还需查有关的资料,才能懂得故障代码的含义.但是,无论采用何种方式解读故障代码,一旦电控汽车ECU出现记录和储存错误的故障代码,则对电控汽车维修有许多不便.在以下3种情况下故障代码易出现错误信息,希望引起维修人员注意.     

数据流在电控汽车故障诊断中的应用

介绍应用数据流对电控汽车燃油喷射系统进行故障诊断的方法,通过3个实例阐述了数据流功能在电控汽车故障诊断中的应用。     

纯电动汽车整车控制策略

整车控制器是纯电动汽车的核心部件之一,是整车的控制中心.为了更加深入研究纯电动汽车整车控制策略,文章介绍了纯电动汽车整车控制系统基本组成结构,并对整车控制器策略进行了详细的分析,阐述了整车控制器应用的开发流程.该整车控制器及其控制策略的设计和研发方法,对整车系统的开发具有较强的指导意义.     

汽车侧面安全性的优化设计

根据某车型的侧面碰撞试验结果，分析了该车侧面安全性存在缺陷的原因。应用所建立的经确证侧面碰撞仿真模型，仿真计算了所提出的提高侧面安全性的改进方案。结果表明，优化改进后，B柱变形模式趋于合理，汽车侧面变形量整体上有所减小；假人肋骨变形量减小了42.3％，腹部受力减小了35．8％，耻骨结合点Y向分力减小了19．6％。     

车辆加速横向抖动前期开发控制

为分析某款城市越野车在加速过程中横向耸动的现象,文章通过测试分析,发现半轴轴向派生力的激励频率与动力总成的横向模态耦合,是引起车辆横向抖动的根本原因。文章以人体感知,制定了车辆抖动的目标;以动力总成、悬置、整车和减振器组建12自由度模型,以此解析加速行驶工况下动力总成刚体横向模态;以半轴轴向派生力与座椅之间的振动数学模型,建立了车辆加速工况横向抖动问题的研究方法。CAE分析及试验测试结果表明:通过控制半轴的轴向派生力或动力总成的横向模态可以控制车辆的横向抖动。     

Development of Online Diagnostics Strategy for the Misfire Fault in Diesel Engines

针对失火造成发动机瞬时角速度的波动,引入瞬时相对角速度这一参量进行失火故障的在线诊断;同时提出相应的算法消除曲轴工艺误差和各缸正常燃烧时的稳态误差对失火诊断的影响.基于统计分析方法,开发了实用的标定流程.试验结果表明,所提出的方法简便实用,能够有效地进行柴油机失火故障的在线诊断.     

非满载液罐半挂汽车列车侧向耦合动力学模型

为方便液罐半挂汽车列车（Tractor Semi-trailer Tank Vehicle,TSTTV）罐-车整体的优化设计匹配,综合提高整车的侧倾稳定性、侧向动力学稳定性及操纵特性,基于Lagrange方法和椭圆规摆等效机械液体晃动模型建立TSTTV的整车侧向耦合动力学模型,其典型特征是实现罐内液体侧向晃动与车辆横摆运动、侧向运动、悬挂质量的侧倾运动及非线性侧向轮胎力的集成一体化建模,贯通液体晃动动力学与车辆侧向动力学稳定性之间的联系。通过开环正弦停滞转向输入操作响应对所建立的模型进行分析评价,考察车辆横摆角速度、质心侧偏角、侧倾角、侧向载荷转移率及液体晃动角等状态量在2种充液比（F_L=40%,80%）及2种罐体椭圆率（Δ=1.0,1.3）下的响应。研究结果表明：所建立的TSTTV模型可以实现液体侧向晃动作用下的车辆侧向耦合动力学仿真分析,能够反映充液比、罐体截面椭圆率等运输条件和罐体几何参数对整车侧倾稳定性、侧向动力学稳定性及操纵特性的影响;基于该模型可以针对液体介质、充液比及道路环境等运输条件因素的影响,研究以提高整车侧向动力学稳定性为目标的TSTTV灌-车整体的优化设计匹配问题,这对提升液罐车的设计性能、提高行驶的安全性和运输效率具有重要意义。