Adaptive Continuously Variable Compression Braking Control for Heavy-Duty Vehicles

Abstract

Modern heavy-duty vehicles are equipped with compression braking mechanisms that augment their braking capability and reduce wear of the conventional friction brakes. In this paper we consider a heavy-duty vehicle equipped with a continuously variable compression braking mechanism. The variability of the compression braking torque is achieved through controlling a secondary opening of the exhaust valve of the vehicle’s turbocharged diesel engine using a variable valve timing actuator. A model reference adaptive controller is designed to ensure good vehicle speed tracking performance in brake-by-wire driving scenarios in presence of large payload and road grade variations. The adaptive controller is integrated with backstepping procedure to account for compression braking actuator dynamics, with observers for various unmeasured quantities and with compensation schemes for actuator saturation. In addition to speed tracking, the vehicle mass and road grade are simultaneously estimated if persistence of excitation-type conditions hold. The final version of the controller is successfully evaluated on a high order crank angle model of a vehicle with a six-cylinder engine.

Research advances in intelligent collision avoidance and adaptive cruise control

“…However, the nonlinearities of the engine are present in the compression braking too and static maps for compression braking could be used to calculate the retarding torque. In [52]- [54], Druzhinina et al present different compression brake control designs for longitudinal control of heavy trucks. Experimental results on successful coordinated use of service brakes and compression braking in longitudinal control is presented in [55].…”

“…For longitudinal control of HDV, Yanakiev et al [60], [61] have proposed an adaptive controller with direct adaptation of PIQ controller gains. Druzhinina et al [54] have designed an adaptive control for HDVs using a Lyapunov function approach. Youcef-Toumi et al [62] have proposed the time-delay control method for longitudinal control of the vehicle.…”

Intelligent Two-Step Estimation Approach for Vehicle Mass and Road Grade

“…The vehicle mass will change depending on passengers and payload, with variations in the mass of up to 50% for passenger vehicles, and 400% for heavy-duty vehicles [3]. Since the vehicle mass indirectly affects the longitudinal and lateral forces, active safety technologies such as direct yaw control and anti-lock braking systems require mass information to perform the primary system calibration [4].…”

Adaptive model predictive control for co-ordination of compression and friction brakes in heavy duty vehicles

“…In Reference [6] a non-linear Lyapunov-based control design has been proposed for continuously variable compression braking system in longitudinal control; and a reference velocity governor which prevents the saturation of braking actuators. To compensate for large parameter variations typical to heavy vehicles, a model reference adaptive algorithm is proposed in Reference [7] which uses a continuous compression braking system. So Reference [6] addresses possible actuator saturations and Reference [7] treats vehicle parameter variation.…”

“…To compensate for large parameter variations typical to heavy vehicles, a model reference adaptive algorithm is proposed in Reference [7] which uses a continuous compression braking system. So Reference [6] addresses possible actuator saturations and Reference [7] treats vehicle parameter variation. In this paper, we address both difficulties simultaneously.…”