Automotive control : modeling and control of Vehicles. / Rolf Isermann.

Format:

Book

Author/Creator:

Isermann, Rolf, author.

Series:

ATZ/MTZ-Fachbuch

Language:

English

Subjects (All):

Adaptive control systems.

Physical Description:

1 online resource (647 pages)

Place of Publication:

Berlin, Germany : Springer, [2022]

Summary:

The introduction of mechatronic components for the powertrain, steering and braking systems opens the way to automatic driving functions. Together with internal and environmental sensors, various driver assistance systems are going to be developed for improving driving comfort and safety. Automatic driving control functions suppose a well-designed vehicle behavior. In order to develop and implement the software-based control functions mathematical vehicle models for the stationary and dynamic behavior are required. The book first introduces basic theoretically derived models for the tire traction and force transfer, the longitudinal, lateral, roll and pitch dynamic behavior and related components, like suspensions, steering systems and brakes. These models have to be tailored to allow an identification of the many unknown parameters during driving, also in dependence of different road conditions, velocity and vehicle load. Based on these mathematical models drive dynamiccontrol systems are developed for semi-active and active suspensions, hydraulic and electromechanical brakes including ABS, traction and steering control. Then driver assistance systems like adaptive cruise control (ACC), electronic stability control (ESC), electronic course control and anti-collision control systems are considered. The anti-collision systems are designed and tested for emergency braking, emergency steering and avoiding of overtaking accidents. The book is dedicated to automotive engineers as well as to graduate students of mechanical, electrical and mechatronic engineering and computer science.

Contents:

304317_1_En_OFC

304317_1_En_BookFrontmatter_OnlinePDF

Preface

Contents

Symbols

304317_1_En_1_Chapter_OnlinePDF

1 Introduction

1.1 Mechatronic Components and First Driver-Assistance Systems

1.2 Automatic Vehicle Control Developments

1.3 Contents of the Book

304317_1_En_1_PartFrontmatter_OnlinePDF

blackPart I Electronic Architectures and Control Structures-1pt

304317_1_En_2_Chapter_OnlinePDF

2 Electrical and Electronic Architectures of Automobiles

2.1 Types of Network Architectures

2.2 Electronic Communication Networks

2.2.1 Network Nodes

2.2.2 Network Topologies

2.2.3 Bus Systems

2.2.4 Gateways

2.2.5 Electronic Network Architectures

2.3 Software Structure of the Electronic Control Units

2.3.1 Conventional Software Structure

2.3.2 Multilevel-Software Structure

2.3.3 AUTOSAR

304317_1_En_3_Chapter_OnlinePDF

3 Vehicle Control Structures

3.1 Overall Vehicle Control Structures

3.2 Control Structures of the Powertrain

3.2.1 Control Structure of Internal Combustion Engines

3.2.2 Control Structure of Hybrid Drives

3.3 Design of Vehicle Control Systems

3.3.1 Vehicle-Oriented Electronic Control Design

3.3.2 Model-Based Control-Function Development with Special Design and Simulation Tools

3.3.3 Control-Software Development

304317_1_En_2_PartFrontmatter_OnlinePDF

blackPart II Modeling of Drive Dynamics-1pt

304317_1_En_4_Chapter_OnlinePDF

4 Vehicle Dynamics Modeling

4.1 Coordinate Systems

4.1.1 Definition of Coordinate Systems

4.1.2 Transformations

4.2 Model Building Approaches

4.2.1 Theoretical and Experimental Modeling

4.2.2 Semi-physical Models

304317_1_En_5_Chapter_OnlinePDF

5 Tire Traction and Force Transfer

5.1 Longitudinal Tire Forces

5.2 Lateral Tire Forces

5.3 Combined Longitudinal and Lateral Forces.

5.4 Lateral Tire Dynamics

5.5 Longitudinal Dynamic Wheel Models

5.6 Tire Forces for Aquaplaning

304317_1_En_6_Chapter_OnlinePDF

6 Longitudinal Vehicle Behavior

6.1 Vehicle Components for the Longitudinal Behavior of Vehicles

6.2 Internal Combustion Engine Models

6.2.1 Gasoline Engine

6.2.2 Diesel Engine

6.3 Drive Train with Friction Clutch and Shifted Transmission

6.3.1 Dry-Plate Friction Clutch

6.3.2 Shifted Transmission, Propeller Shaft, and Differential

6.3.3 Drive Shaft and Wheels

6.4 Drive Train with Automatic Hydrodynamic Transmission

6.5 Longitudinal Vehicle Model

6.5.1 Basic Longitudinal Vehicle Model

6.5.2 Simplified Vehicle Model with Stiff Powertrain (One-Mass System)

6.5.3 The Drive Train As a Two-Mass-System

6.5.4 Vertical Wheel Forces for Stationary and Dynamic Behavior

6.6 Acceleration Behavior

6.6.1 Simplified Acceleration Model

6.6.2 Acceleration Models with Variable Slip and Vertical Forces

6.7 Braking Behavior

6.7.1 Simplified Braking Model

6.7.2 Braking Models with Variable Slip and Vertical Forces

304317_1_En_7_Chapter_OnlinePDF

7 Lateral Vehicle Behavior

7.1 Kinematic Models for Lateral Behavior

7.2 Dynamic One-Track Models

7.2.1 Nonlinear One-Track Model

7.2.2 Linearized One-Track Model

7.2.3 Parameter Variations

7.2.4 Characteristic Velocity and Stability

7.2.5 Stationary Cornering

7.2.6 Comparison with Measurements

7.2.7 Wheel Slip Angle Difference Model

7.3 Dynamic Two-Track Models

7.3.1 General Two-Track Model

7.3.2 Simplified Two-Track Model, Even Road Plane

7.3.3 Two-Track Model with Road Gradients, Front and Rear Wheel Steering

7.3.4 Nonlinear One-Track Model with Road Gradients

7.3.5 Comparison of Different Lateral Vehicle Models

7.3.6 Effect of Parameter Variations on the Lateral Behavior.

304317_1_En_8_Chapter_OnlinePDF

8 Vertical Vehicle Behavior

8.1 Vehicle Suspensions

8.1.1 Driving Comfort and Safety

8.1.2 Suspension Components

8.2 Passive Suspension Models

8.2.1 Linear Suspension Model

8.2.2 Nonlinear Suspension Models

8.3 Parameter Identification of Semi-active Suspensions

8.3.1 Parameter Identification of a Quarter-Car Suspension

8.3.2 Parameter Identification of a Driving Vehicle

304317_1_En_9_Chapter_OnlinePDF

9 Roll and Pitch Dynamic Behavior

9.1 Roll Dynamic Model

9.2 Pitch Dynamic Model

304317_1_En_10_Chapter_OnlinePDF

10 Parameter and State-Estimation Methods for Vehicle Dynamics

10.1 Parameter-Estimation Methods

10.1.1 Method of Least Squares Parameter Estimation (LS), Discrete Time

10.1.2 Method of Least Squares Parameter Estimation (LS), Continuous Time

10.2 State Variable Estimation

10.2.1 State Observer, Continuous Time

10.2.2 Nonlinear State Observer, Continuous Time

10.2.3 State Estimation (Kalman Filter), Discrete Time

10.2.4 Extended Kalman Filter

10.2.5 Determination of Derivatives

10.3 Driving Maneuvers

304317_1_En_11_Chapter_OnlinePDF

11 Parameter Estimation (Identification) of Vehicle Dynamics

11.1 Vehicle Mass and Resistance Parameters

11.2 Center of Gravity Coordinates

11.3 Dynamic Rolling Tire Radius

11.4 Road Gradients

11.4.1 Longitudinal Road Gradient

11.4.2 Lateral Road Gradient

11.5 Understeer Gradient

11.6 Tire Model Parameters

11.6.1 Longitudinal Tire Model Parameters: Friction Coefficient Estimation

11.6.2 Lateral Tire Model Parameters: Cornering Stiffness Estimation

11.7 Mass Moments of Inertia

11.8 Roll and Pitch Dynamic Parameters

11.8.1 Roll Dynamic Parameters

11.8.2 Pitch Dynamic Parameters

304317_1_En_12_Chapter_OnlinePDF

12 State Estimation of Vehicles.

12.1 State Estimation of the Vehicle Position

12.1.1 Odometric Position Estimation for an Earth Fixed Coordinate System

12.1.2 Odometric Position Estimation for a Bent Road

12.2 State Estimation of the Ground Velocity with Kinematic Vehicle Models

12.2.1 Use of the Wheel Angular Velocities

12.2.2 Use of the Wheel Angular Velocities and the Acceleration

12.3 State Estimation for the Lateral Vehicle Behavior

12.3.1 Slip Angle Estimation for Special Driving Maneuvers with Kinematic Models

12.3.2 Slip Angle Estimation with State Observers (General Dynamic Driving Maneuvers)

12.3.3 Slip Angle Estimation with Kalman Filters

12.4 State Estimation of the Roll Angle and Pitch Angle

12.4.1 State Estimation of the Roll Angle

12.4.2 State Estimation of the Pitch Angle

12.5 Expanded Vehicle State Estimation with an Extended …

12.6 Vehicle State Estimation with Additional 3D-GPS Measurements …

12.6.1 Roll Angle and Yaw Angle Estimation

12.6.2 Vehicle State Estimation with a Two-Track Model

304317_1_En_3_PartFrontmatter_OnlinePDF

blackPart III Dynamic Control of Chassis Components-1pt

304317_1_En_13_Chapter_OnlinePDF

13 Braking Control

13.1 Hydraulic Brake System

13.2 Models of a Hydraulic Brake Circuit

13.2.1 Pneumatic Brake Booster

13.2.2 Brake Circuit

13.3 Anti-lock Control with Switching Valves (ABS)

13.4 Electromechanical Brake Booster

13.5 Electro-Hydraulic Brake System (EHB)

13.6 EHB Slip Control with Proportional Valves

13.7 Electromechanical Brake (EMB)

13.7.1 Introduction

13.7.2 Electromechanical Brake Module

13.7.3 EMB-brake Model

13.7.4 Simplified EMB-brake Model

13.7.5 Simulation and Measurement

304317_1_En_14_Chapter_OnlinePDF

14 Steering Control Systems

14.1 Mechanical Steering Systems

14.1.1 Types of Steering Systems.

14.1.2 Stationary and Dynamic Behavior of Mechanical Steering Systems

14.1.3 Frequency Ranges of Interest

14.2 Power-Assisted Steering Systems

14.2.1 Kinematic Relations for Power Steering

14.3 Hydraulic Power Steering (HPS)

14.3.1 Basic Designs of HPS

14.3.2 Dynamic Models of HPS

14.4 Electrical Power Steering (EPS)

14.4.1 Basic Designs of EPS Systems

14.4.2 Components of EPS Systems

14.4.3 Dynamic Models of Electrical Power Steering Systems (EPS)

14.4.4 Fault-Tolerant EPS-Structures

304317_1_En_15_Chapter_OnlinePDF

15 Suspension Control Systems

15.1 Classification of Suspension Systems

15.2 Semi-active Suspensions

15.2.1 Semi-active Dampers

15.2.2 Load-Leveling System

15.2.3 Semi-active Spring

15.3 Control of Semi-active Suspensions

15.3.1 Parameter-Adaptive Semi-active Dampers

15.3.2 State Feedback Controlled Semi-active Suspensions

15.4 Active Suspensions

15.4.1 Active Suspension Principles

15.4.2 On Active Suspension Control

15.4.3 Active Hydraulic Suspension

15.5 Tire Pressure Monitoring with Wheel and Suspension Sensors

15.5.1 Comparison of Wheel's Speeds

15.5.2 Torsional Wheel Speed Oscillations

15.5.3 Vertical Wheel Acceleration

15.5.4 Comparison and Fusion of the Methods

304317_1_En_4_PartFrontmatter_OnlinePDF

blackPart IV Driver-Assistance Systems-1pt

304317_1_En_16_Chapter_OnlinePDF

16 On Driver-Assistance Systems

16.1 Passive and Active Driver-Assistance Systems

16.2 Sensor Systems for Advanced Driver-Assistance Systems

16.3 Environment Representation

304317_1_En_17_Chapter_OnlinePDF

17 Advanced Driver Assistance Systems for Longitudinal and Lateral Guidance

17.1 Traction Control System (TCS)

17.2 Electronic Stability Control (ESC)

17.2.1 ESC for Oversteering

17.2.2 Simplified ESC for Over- and Understeering.

17.3 Lane Keeping Assistance (LDW/LKA).

Notes:

Includes index.

Description based on print version record.

ISBN:

3-642-39440-X

OCLC:

1273976107