Abstract
An active implementation of mechatronic technologies and electronic drives leads to an essential increase of autonomy of sub-systems in modern and coming ground vehicles. On the one hand it makes possible efficient technologies of multi-task control. On the other hand the autonomy of vehicle sub-systems can call for internal conflicts of properties, for instance, between comfort and safety. From these positions the presented research discusses the following issues.
1) Multi-agent vehicle architecture: Analysis of connections between vehicle sub-systems and properties; introduction of vehicle structure composed from agents.
2) Multi-task strategy of vehicle dynamics control using objective functions: Search of a set of actuations to generate required yaw torque for vehicle stabilization taking into account estimated power demand and losses of energy during curvilinear motion of the vehicle.
3) Case study: Integrated control of handling, stability and performance of motion with different automotive sub-systems; Particular contribution of each subsystem under complex integrated control; Analysis of results obtained by computer simulation.
The research outcomes show that an intelligent placing of priorities by the control on autonomous vehicle sub-systems allows achieving a certain simultaneous effect in performance and safety. The results of the presented research are oriented towards applications for electric vehicles, autonomous mobile machines, and vehicles with an intensive embedding of X-by-wire technologies.
Keywords: vehicle dynamics, safety, performance, intelligent agents, simulation