Integration of Chassis and Traction Control Systems What is Possible – What makes Sense – What is under Development*

Robust cascade control for the horizontal motion of a vehicle with single-wheel actuators

“…A defective wheel drive might cause a free rolling wheel provoking a non-adjustable, longitudinal forceF xi at the ith wheel. Using the measurable rotational speed and steering angle of the corresponding wheels in the tyre model (5) and in the slip definition (7) the constraining forces are computed. Extending F Hd by the constraining forces leads toF…”

“…An overview can be found in [4]. In [5] the global chassis control was discussed, namely the integration of different vehicle control systems into an overall control structure. This led to various known control applications for the stabilisation of over-actuated vehicles like model predictive control, robust control, or flatness-based control.…”

Fahrzeugdynamik: Grundlagen der Modellierung und Regelung

“…Zwangsläufig damit einher geht eine stärkere Vernetzung der einzelnen Regelsysteme, was unmittelbar auf den Begriff der Integration führt. Eine übersichtsartige Darstellung zu diesem aktuellen Themenkreis der Fahrwerkregelsystementwicklung findet der interessierte Leser in [16]. …”

Improved Vehicle Performance Using Combined Suspension and Braking Forces

“…This, combined with streamlining sensor and actuator use, leads to reduced wiring and maqufacturing thereby achieving the same vehicle performance with reduced costs. However, no performance results, either by simulation or analysis, are given in [16]. On the vehicle performance side, Matsumoto et a1 i l l ] consider the effects of braking force distribution control on yaw rate and vehicle control.…”

“…For example, the wheel speed sensors and vehicle speed sensors from ABS and TC 236 ANDREW ALLEYNE systems could be combined and, additionally, the same actuator hardware could be used for both systems. Another key point by [16] is the use of a single control processor module for control of several subsystems. This, combined with streamlining sensor and actuator use, leads to reduced wiring and maqufacturing thereby achieving the same vehicle performance with reduced costs.…”