A novel integrated chassis controller for full drive-by-wire vehicles

Abstract

In this paper, a systematic design with multiple hierarchical layers is adopted in the integrated chassis controller for full drive-by-wire vehicles. A reference model and the optimal preview acceleration driver model are utilised in the driver control layer to describe and realise the driver's anticipation of the vehicle's handling characteristics, respectively. Both the sliding mode control and terminal sliding mode control techniques are employed in the vehicle motion control (MC) layer to determine the MC efforts such that better tracking performance can be attained. In the tyre force allocation layer, a polygonal simplification method is proposed to deal with the constraints of the tyre adhesive limits efficiently and effectively, whereby the load transfer due to both roll and pitch is also taken into account which directly affects the constraints. By calculating the motor torque and steering angle of each wheel in the executive layer, the total workload of four wheels is minimised during normal driving, whereas the MC efforts are maximised in extreme handling conditions. The proposed controller is validated through simulation to improve vehicle stability and handling performance in both open- and closed-loop manoeuvres.

Keywords:

• integrated control
• driver model
• sliding mode control
• control allocation

Acknowledgements

The China Scholarship Council is gratefully acknowledged for a scholarship to support Pan Song's study at University of California, Berkeley (No. 201306170075).

Funding

This work was financially supported by the Open Fund Project of the State Key Laboratory of Automotive Simulation and Control (No. 20120111).

ORCID

Pan Song http://orcid.org/0000-0003-0814-6824

Masayoshi Tomizuka http://orcid.org/0000-0003-0206-6639

Changfu Zong http://orcid.org/0000-0001-8007-0436