Global Chassis Control Based On ESP And EPS

As the vehicle active safety technology is developping rapidly, Global chassiscontrol (GCC) based on different chassis control systems becomes a research focus,among which GCC based on Electronic Stability Program (ESP) and ElectronicPower Steering (EPS) is worth promoting and appling because of its uncomplicatedstructure and good practicality. Most current researches of GCC have shortages ofimperfect control structure, insufficient control strategies, and deficient suitabledriver model. Aiming at these problems, this paper presents a proper structure forGCC based on ESP and EPS, investigates the key technologies related includingcontrol strategies and driver characteristics.After analyzing the application ranges and interactions of ESP and EPS, a GCCstructure based on hierarchical-supervision structure is established. This structurecontains three layers. On top layer, GCC controller calculates coordination command,on middle layer, ESP and EPS controllers calculate their own control commandsaccording to coordination command, on bottom layer, actuators execute ESP and EPScontrollers commands.Two levels of GCC ideas including coordination of different subsystems andoptimization of single subsystem are proposed based on GCC structure above.According to the ideas, this paper researches GCC strategies including driveroperation and vehicle status recognition, and coordination control strategies underthree typical situations, which including intense braking on split-μ road, largesteering on low-μ road, normal steering on low-μ road. During research, driveroperation and vehicle status recognition is discussed through analyzing driveroperation characteristics under specific situation, coordination control strategies isdesigned by assistant driving torque modification based on ESP control. Besides,strategies of each subsystem are studied.Software simulation platform and Hardware-in-Loop (HIL) platform aredeveloped to validate the effectiveness of the proposed strategies, based on which software simulations and HIL experiments are finished. In the development ofsoftware simulation platform, driver model with radical operation based on driveroptimal preview model is proposed. In the development of HIL platform, GCCprototype based on dSPACE is developed independently. Simulation and HILexperiments results show that GCC controller can improve handling stability to acertain extent and optimize handle feeling in the typical situations.