Abstract
Control algorithms for integrated global chassis control (IGCC) have been developed in a framework of an x-by-wire project using the Time-Triggered Architecture (TTA). As all on-board ECUs are made in-house, it is possible to design the IGCC system in a top-down manner. As a result, effective control algorithms with extended stability and handling performance can be achieved. The control system, which embraces several actuation concepts published so far, is based on a two-track vehicle dynamics model with a non-linear tire model. Actuator interventions include the possibilities of four-wheel steering, braking, and active suspension. Overall control system is reconstructed and optimized under the new actuation possibilities. Problem statements of model-based global chassis control are reformulated and individual design steps based on an "integrated" and "top-down" design philosophy are outlined. The implementation issue using conventional hardware has been one of the most important considerations for the realization of the developed control algorithms. Simulation results have confirmed the effectiveness of the proposed design methodology. A ready-to-use test vehicle with brake-by-wire and steering-by-wire has been set up with the aim to verify the IGCC algorithms in the real world.
Keywords:Integrated global chassis control, top-down design, vehicle stability control, by-wire, TTP.