Accurate vehicle dynamic information plays an important role in vehicle driving safety.However,due to the characteristics of high mobility and multiple controllable degrees of freedom of drive-by-wire chassis vehicles...Accurate vehicle dynamic information plays an important role in vehicle driving safety.However,due to the characteristics of high mobility and multiple controllable degrees of freedom of drive-by-wire chassis vehicles,the current mature application of traditional vehicle state estimation algorithms can not meet the requirements of drive-by-wire chassis vehicle state estimation.This paper proposes a state estimation method for drive-by-wire chassis vehicle based on the dual unscented particle filter algorithm,which make full use of the known advantages of the four-wheel drive torque and steer angle parameters of the drive-by-wire chassis vehicle.In the dual unscented particle filter algorithm,two unscented particle filter transfer information to each other,observe the vehicle state information and the tire force parameter information of the four wheels respectively,which reduce the influence of parameter uncertainty and model parameter changes on the estimation accuracy during driving.The performance with the dual unscented particle filter algorithm,which is analyzed in terms of the time-average square error,is superior of the unscented Kalman filter algorithm.The effectiveness of the algorithm is further verified by driving simulator test.In this paper,a vehicle state estimator based on dual unscented particle filter algorithm was proposed for the first time to improve the estimation accuracy of vehicle parameters and states.展开更多
Aiming at the actuator time delay caused by the drive-by-wire technology,a novel manoeuvre stability controller based on model predictive control is proposed for full drive-by-wire vehicles.Firstly,the future vehicle ...Aiming at the actuator time delay caused by the drive-by-wire technology,a novel manoeuvre stability controller based on model predictive control is proposed for full drive-by-wire vehicles.Firstly,the future vehicle dynamics are predicted by a twodegree-of-freedom vehicle model with input delay.Secondly,in order to prevent the vehicle from destabilizing due to excessive side slip angles,the determined ideal yaw rate and side slip angle are tracked simultaneously by optimizing the front wheel angle and additional yaw moment.Moreover,in order to improve the trajectory tracking ability,a side slip angle constraint determined by phase plane stability boundaries is added to the cost function.The results of Matlab and veDYNA co-simulation show that the regulated yaw rate can track the reference value well and the side slip angle decreases.Meanwhile,the trajectory tracking ability is improved obviously by compensating the time delay.展开更多
为进一步提升中国汽车工程学科实力,促进中国汽车技术发展,从汽车电动化与节能、汽车智能化与网联化、汽车动力学与控制、汽车噪声-振动-声振粗糙度(Noise,Vibration,Harshness,NVH)控制与轻量化、汽车电子电气与软件技术、汽车测试与...为进一步提升中国汽车工程学科实力,促进中国汽车技术发展,从汽车电动化与节能、汽车智能化与网联化、汽车动力学与控制、汽车噪声-振动-声振粗糙度(Noise,Vibration,Harshness,NVH)控制与轻量化、汽车电子电气与软件技术、汽车测试与评价技术6个方面,系统梳理了国内外汽车工程领域近年的学术研究现状、前沿热点问题、最新研究成果及未来发展前景。汽车电动化与节能梳理了纯电动汽车、插电式混合动力汽车、氢燃料电池汽车、增程式电动汽车和节能汽车的关键技术研究;汽车智能化与网联化梳理了智能驾驶环境感知技术、自动驾驶定位技术、智能车决策规划、运动控制技术、车路协同、智能安全技术、车联网安全技术和智能座舱与人机交互等研究;汽车动力学与控制梳理了线控制动技术、线控转向技术、线控悬架技术和线控底盘协同控制技术研究;汽车NVH控制与轻量化梳理了汽车气动噪声预测与优化、纯电动汽车系统的NVH控制、声学超材料与汽车结构振动控制、汽车噪声主动控制、汽车轻量化技术以及碰撞安全技术等研究;汽车电子电气与软件技术梳理了汽车电子电气架构、汽车软件技术与空中下载技术(Over the Air,OTA)升级、芯片与系统功能集成等研究;汽车测试与评价技术梳理了燃油车、新能源汽车和智能网联汽车的测试与评价技术等研究。该综述可为中国汽车工程学科研究的进一步发展提供研究参考,为汽车工程关键技术发展提供方向引导。展开更多
ISO 26262—2018功能安全标准从小于3.5吨车型延展摩托车等诸多领域,针对新时期自动驾驶对发动机控制提出的线控需求,本文提出一种支持线控驱动的ECU控制单元硬件电路和扭矩安全监控策略的设计与开发,提出了一种双冗余互校验的架构并对...ISO 26262—2018功能安全标准从小于3.5吨车型延展摩托车等诸多领域,针对新时期自动驾驶对发动机控制提出的线控需求,本文提出一种支持线控驱动的ECU控制单元硬件电路和扭矩安全监控策略的设计与开发,提出了一种双冗余互校验的架构并对其中的合理性判断及故障诊断策略进行开发。利用Matlab/Simulink工具搭建了相应的控制模型,并利用Embedded coder工具实现模型到代码的自动生成,运用满足功能安全标准的工具链和开发流程对代码进行MIL测试SIL测试与HIL测试,最后在发动机台架上进行试验验证。试验结果证明此监控单元能有效完成线控扭矩需求并达到功能安全ASIL-C的要求,极大提高了发动机线控驱动的安全性。展开更多
基金Supported by National Key Research and Development Program of China(Grant No.2021YFB2500703)Science and Technology Department Program of Jilin Province of China(Grant No.20230101121JC).
文摘Accurate vehicle dynamic information plays an important role in vehicle driving safety.However,due to the characteristics of high mobility and multiple controllable degrees of freedom of drive-by-wire chassis vehicles,the current mature application of traditional vehicle state estimation algorithms can not meet the requirements of drive-by-wire chassis vehicle state estimation.This paper proposes a state estimation method for drive-by-wire chassis vehicle based on the dual unscented particle filter algorithm,which make full use of the known advantages of the four-wheel drive torque and steer angle parameters of the drive-by-wire chassis vehicle.In the dual unscented particle filter algorithm,two unscented particle filter transfer information to each other,observe the vehicle state information and the tire force parameter information of the four wheels respectively,which reduce the influence of parameter uncertainty and model parameter changes on the estimation accuracy during driving.The performance with the dual unscented particle filter algorithm,which is analyzed in terms of the time-average square error,is superior of the unscented Kalman filter algorithm.The effectiveness of the algorithm is further verified by driving simulator test.In this paper,a vehicle state estimator based on dual unscented particle filter algorithm was proposed for the first time to improve the estimation accuracy of vehicle parameters and states.
基金the National Nature Science Foundation of China(Nos.61790564,U1664257)the National Key RD Program of China(No.2018YFB0104805)+1 种基金the Funds for Joint Project of Jilin Province and Jilin University(No.SXGJSF2017-2-1-1)the Funds of the Fundamental Research for the Central Universities.
文摘Aiming at the actuator time delay caused by the drive-by-wire technology,a novel manoeuvre stability controller based on model predictive control is proposed for full drive-by-wire vehicles.Firstly,the future vehicle dynamics are predicted by a twodegree-of-freedom vehicle model with input delay.Secondly,in order to prevent the vehicle from destabilizing due to excessive side slip angles,the determined ideal yaw rate and side slip angle are tracked simultaneously by optimizing the front wheel angle and additional yaw moment.Moreover,in order to improve the trajectory tracking ability,a side slip angle constraint determined by phase plane stability boundaries is added to the cost function.The results of Matlab and veDYNA co-simulation show that the regulated yaw rate can track the reference value well and the side slip angle decreases.Meanwhile,the trajectory tracking ability is improved obviously by compensating the time delay.
文摘为进一步提升中国汽车工程学科实力,促进中国汽车技术发展,从汽车电动化与节能、汽车智能化与网联化、汽车动力学与控制、汽车噪声-振动-声振粗糙度(Noise,Vibration,Harshness,NVH)控制与轻量化、汽车电子电气与软件技术、汽车测试与评价技术6个方面,系统梳理了国内外汽车工程领域近年的学术研究现状、前沿热点问题、最新研究成果及未来发展前景。汽车电动化与节能梳理了纯电动汽车、插电式混合动力汽车、氢燃料电池汽车、增程式电动汽车和节能汽车的关键技术研究;汽车智能化与网联化梳理了智能驾驶环境感知技术、自动驾驶定位技术、智能车决策规划、运动控制技术、车路协同、智能安全技术、车联网安全技术和智能座舱与人机交互等研究;汽车动力学与控制梳理了线控制动技术、线控转向技术、线控悬架技术和线控底盘协同控制技术研究;汽车NVH控制与轻量化梳理了汽车气动噪声预测与优化、纯电动汽车系统的NVH控制、声学超材料与汽车结构振动控制、汽车噪声主动控制、汽车轻量化技术以及碰撞安全技术等研究;汽车电子电气与软件技术梳理了汽车电子电气架构、汽车软件技术与空中下载技术(Over the Air,OTA)升级、芯片与系统功能集成等研究;汽车测试与评价技术梳理了燃油车、新能源汽车和智能网联汽车的测试与评价技术等研究。该综述可为中国汽车工程学科研究的进一步发展提供研究参考,为汽车工程关键技术发展提供方向引导。
