integrated chassis control brakenet 2002
DESCRIPTION
Presentation on Vehicle Chassis Systems Control and Integration at Brakenet, England, 2002TRANSCRIPT
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Integrated Vehicle Control SystemsIntegrated Vehicle Control Systems
Vehicle Chassis SystemsVehicle Chassis SystemsControl Control
and and IntegrationIntegration
September, 2002September, 2002
Dr. Mark N.W. HowellDr. Mark N.W. Howell
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Integrated Vehicle Control SystemIntegrated Vehicle Control System
• IntroductionIntroduction
• Systems IntegrationSystems Integration
• Subsumption ArchitectureSubsumption Architecture
• ExamplesExamples
• ConclusionsConclusions
Presentation OutlinePresentation Outline
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Integrated Vehicle Control SystemIntegrated Vehicle Control System
• Safety• Predictable behaviour• Responsive Handling • Ride Comfort
• Maximise efficiency & performance of the vehicle• Flexibility, modular, ‘plug and play’ architecture
IntroductionIntroduction
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Integrated Vehicle Control SystemIntegrated Vehicle Control System
OEMOEMRequirementsRequirements
Based on car type/OEM requirements
select required systems for interaction
Brand DNA Product Differentiation
Performance FeelPerformance Feel
Ease of UseEase of Use
ReliabilityReliability
IntegrityIntegrity
SafetySafety
ComfortComfort
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Integrated Vehicle Control SystemIntegrated Vehicle Control System
Whole Vehicle Objectives
Braking Steering
Suspension Powertrain
6 D.O.F
Longitudinal Lateral Bounce Pitch Roll Yaw
Characteristics
Safe Predictable Responsive Handling Ride ComfortNVH, Energy, Reliability, Cost ...
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Integrated Vehicle Control SystemIntegrated Vehicle Control System
• Braking Systems - ABS, TRC
• Steering - AFWS, 4WS
• Suspension - Active, Semi-active, Roll Control
• Drivetrain - Differential/ IVT/CVT
• + Cruise Control, Intelligent/Adaptive Cruise Control
• Yaw moment control, X-by-wire
• Future systems: Collision Avoidance, Parking
• Need a coherent way of integrating systems
The Need for IntegrationThe Need for Integration
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Integrated Vehicle Control SystemIntegrated Vehicle Control System
• Modular
• Respect IPR of suppliers
• Avoid excessive complexity
• Incorporate fault detection, diagnosis and tolerance
• Open architecture
Design RequirementsDesign Requirements
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Integrated Vehicle Control SystemIntegrated Vehicle Control System
Subsumption Architecture Subsumption Architecture
Sensors
STIMULUS
COORDINATIONO
Actuators
Behaviour 1
Behaviour 2
Behaviour n
A modular, behaviour based, distributed architecture
Behaviours are layers of control architectures that are event driven
One layer can subsume control over another layer
Higher level behaviour can suppress a lower-level behaviour.
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Integrated Vehicle Control SystemIntegrated Vehicle Control System
• Distributed Layered Control– Control distributed across parallel layers each with multiple modules
• Behavioural Decomposition– different layers support different ‘task-achieving’ behaviours’ – decomposes into behavioural rather than function units
• Increasing ‘Levels of competence’– Ascending level adds capabilities resulting in higher overall competence.– Higher levels often operate by modulating the activities of lower levels.
• Incremental Construction– incremental control system designing – intermediate architecture tested and debugged before next layer added.
• Conflict resolution and communication between levels– Higher layers subsume the roles of lower ones by suppressing their
outputs and substituting their own.
Key Aspects of SubsumptionKey Aspects of Subsumption
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Integrated Vehicle Control SystemIntegrated Vehicle Control System
SubsumptionSubsumptionAdvantages
• Modular
• Very flexible
• Robust to system change
• Incremental control design Disadvantages
• Complex overall system with a large number of behaviours
• Verification difficult of overall system behaviour
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Integrated Vehicle Control SystemIntegrated Vehicle Control System
CollisionAvoidance
StraightLine
Stability
NeutralSteer
ParkingAid
SafetyDistance
from Obstacles
Anti -Dive
Anti -Squat
YawStability
RollStability
RideComfort
LoadTransfer
ForwardSpeed
Layer 4
Behaviour
Layer 3
Behaviour
Layer 2
Behaviour
Layer 1
Behaviour
Layer 0
Hardware
ABS TCSSide SlipControl
ControllableSuspension
DriverSen
sor
and
Info
rmat
ion
Bus
Integrated Layers
Non Integrated Layers(mostly single loop)
Lane Detectionand Tracking
Brakes Engine Transmission Suspension Steering
Subsumption SubsystemsSubsumption Subsystems
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Integrated Vehicle Control SystemIntegrated Vehicle Control System
Sensors(physical)
Sensors(Soft)
State Estimation/Observers
Near TrafficCondition
Driver ModelTrue Vehicle
Model'Desired' Vehicle
Model
Road ConditionEstimation
Bah
avio
urs
Lane Detection
Sensor and Information BusSensor and Information Bus
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Integrated Vehicle Control SystemIntegrated Vehicle Control System
Behaviour 4
Behaviour 3
Behaviour 2
Behaviour 1
ACTION
MAX (B1, B2,B3,B4)
Behaviour 4
Behaviour 3
Behaviour 2
Behaviour 1
ACTION
Respond of highestactive behaviour
Response of behaviourwith the highestactivation signal
Behaviour 4
Behaviour 3
Behaviour 2
Behaviour 1
ACTION
Voting based (Neural)
Behaviour 4
Behaviour 3
Behaviour 2
Behaviour 1
ACTION
Fuzzy Rule based
(A)
(B)
(C)
(D)
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Integrated Vehicle Control SystemIntegrated Vehicle Control System
Scope for Integration - ActuationScope for Integration - Actuation
• 4 Independent Brake 4
• Engine 1+(...)
• Driveline (Transmission/differential) 1,2+
• Individual Wheel Steering 4
• Active Suspension 4
Total : 15+
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Integrated Vehicle Control SystemIntegrated Vehicle Control System
• Stiff suspension model - nonlinear tyre model
• 7 DOF: Yaw, Sideslip, Longitudinal, Wheel spin + Control States
• Independent wheel braking
• Rudimentary Powertrain (torque demand)
• Active Front Wheel Steer
Simple StudySimple Study
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Integrated Vehicle Control SystemIntegrated Vehicle Control System
• Integrated Systems
• Non-integrated control
Driver
Throttle Brake Input
Steer AngleInput
Brake torque
Front Steer Angle
Throttle
Low
‘ABS’ Independent Wheel Slip Control
Front Slip angle control
Yaw/ Sideslip
Control
Directional
Control
HighIntermediate
Vehicle
Simple study - levels of behaviourSimple study - levels of behaviour
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Integrated Vehicle Control SystemIntegrated Vehicle Control System
0 2 4 6 8 10 12 14 16 18 20-10
-5
0
5
10
15
20
25
30
time [s]
sp
ee
d [
m/s
]Vehicle Forward Speed
noctrlS
sigmaS
beta10S
allS
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Integrated Vehicle Control SystemIntegrated Vehicle Control System
0 2 4 6 8 10 12 14 16 18 20-200
-150
-100
-50
0
50
100
150
200
time [s]
be
ta [o ]
Vehicle Side Slip Angle
noctrlS
sigmaS
beta10S
allS
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Integrated Vehicle Control SystemIntegrated Vehicle Control System
0 2 4 6 8 10 12 14 16 18 20-4
-3
-2
-1
0
1
2
3
4
time [s]
be
ta [o ]
Vehicle Side Slip Angle
noctrlS
sigmaS
beta10S
allS
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Integrated Vehicle Control SystemIntegrated Vehicle Control System
0 2 4 6 8 10 12 14 16 18 20-60
-40
-20
0
20
40
60
time [s]
de
lta
[o ]Steer Angle
noctrlS
sigmaS
beta10S
allS
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Integrated Vehicle Control SystemIntegrated Vehicle Control System
0 2 4 6 8 10 12 14 16 18 20-2.5
-2
-1.5
-1
-0.5
0
0.5
1
time [s]
r [r
ad
/s]
Yaw Rate
noctrlS
sigmaS
beta10S
allS
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Integrated Vehicle Control SystemIntegrated Vehicle Control System
0 2 4 6 8 10 12 14 16 18 20-8
-6
-4
-2
0
2
4
6
8
time [s]
a lat [
m/s
2 ]
Lateral Acceleration
noctrlS
sigmaS
beta10S
allS
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Integrated Vehicle Control SystemIntegrated Vehicle Control System
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Integrated Vehicle Control SystemIntegrated Vehicle Control System
• Technical and commercial considerations restrict the ways that integrated vehicle control systems are implemented in practice
• Limiting total system complexity is a priority
• Layered ‘subsumption’ architectures are particularly applicable to the control implementation, but detailed methodologies are not yet well developed
• Issues of conflict resolution in real-time, may be solved by extending commonly available control techniques
Main ConclusionsMain Conclusions
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Integrated Vehicle Control SystemIntegrated Vehicle Control System
Any Questions ?Any Questions ?