Automotive Control: Modeling and Control of Vehicles

647 Pages·2021·24.584 MB·English

by  Rolf Isermann

ATZ/MTZ-Fachbuch
Rolf Isermann
Automotive
Control
Modeling and Control of Vehicles
ATZ/MTZ-Fachbuch
In der Reihe ATZ/MTZ-Fachbuch vermitteln Fachleute, Forscher und Entwickler
aus Hochschule und Industrie Grundlagen, Theorien und Anwendungen der
Fahrzeug- und Verkehrstechnik. Die komplexe Technik, die moderner Mobilität
zugrundeliegt,bedarfeinesimmergrößerwerdendenFundusanInformationen,um
die Funktion und Arbeitsweise von Komponenten sowie Systemen zu verstehen.
Fahrzeuge aller Verkehrsträger sind ebenso Teil der Reihe, wie Fragen zu
Energieversorgung und Infrastruktur.
Das ATZ/MTZ-Fachbuch wendet sich an Ingenieure aller Mobilitätsfelder, an
Studierende, Dozenten und Professoren. Die Reihe wendet sich auch an Praktiker
aus der Fahrzeug- und Zulieferindustrie, an Gutachter und Sachverständige, aber
auch an interessierte Laien, die anhand fundierter Informationen einen tiefen
Einblick in die Fachgebiete der Mobilität bekommen wollen.
More information about this series at http://www.springer.com/series/12236
Rolf Isermann
Automotive Control
Modeling and Control of Vehicles
123
Rolf Isermann
Technische UniversitätDarmstadt
Darmstadt, Germany
ATZ/MTZ-Fachbuch
ISBN978-3-642-39439-3 ISBN978-3-642-39440-9 (eBook)
https://doi.org/10.1007/978-3-642-39440-9
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Preface
The development of automobiles shows a continuous improvement of the chassis,
body, powertrain, exterior design, and many others. However, the technical pro-
gress during the last decades is especially characterized by the electrification and
electronification. The introduction of many sensors for physical quantities in the
vehicle and for the detection of the surroundings in combination with electrical
actuatedbrakes,steeringsystems,powertrains,andelectroniccontrolunitsenabled
the realization of driver-assistance systems and increasingly automatic driving
functions for the improvement of safety and driving comfort.
The design of the stationary and dynamic behavior of vehicles is in addition to
classical engineeringprinciplessupportedbymathematicalmodelsandsimulation.
Therefore,besidesthedesignofthevehiclepropertiesasforthedesignofadvanced
driver-assistance systems, detailed models for the longitudinal, lateral, and vertical
behaviorarerequired.Thisholds,forexample,forthedesignofelectronicstability
control(ESC),oradaptivecruisecontrol(ACC)orlanekeepingcontrol(LKC).The
further steps with increasing degrees ofautomatic driving, from partial automation
to high automation require precise and safe automatic longitudinal and lateral
vehicle control systems which have to be based on actual mathematical models
of the driving car.
This book treats after considering the E/E architecture first vehicle control
structuresandaworkflowforcontrolsystemdesign.Thenmathematicalmodelsfor
the tire traction, the longitudinal, lateral, vertical, roll, and pitch dynamic behavior
are established and compared with measurements. In order to obtain well-adapted
models during driving, different parameter and state variable estimation methods
areintroducedandexperimentalresultsareshown.Thevehiclemodelsarebasedon
physicalproperties,anditisoneofthegoalstoobtainagoodcompromisebetween
a clear interpretation and accuracy of the models.
The design and application of braking control systems is shown for hydraulic
andelectromechanicalbrakes,followedbyhydraulicandelectricalsteeringcontrol
systems and semi-active and active suspension systems.
Based on this background, the structures and signal flow graphs of advanced
driver-assistance systems like TCS, ESC, and LKA are first represented. Then the
differentdegreesofautomaticdrivingareconsideredandthedesignoflongitudinal
v
vi Preface
velocity and distance control (ACC) is treated as well as the design of lateral path
control, lane change control, and lane merging control.
Forimprovingactivesafetyanticollisionsystemswithautomaticbrakingand/or
steering and for overtaking maneuvers are described including experimental test
maneuvers.Thenthedevelopmentofautomatic(autonomous)drivingisconsidered
and the required functional tasks from environmental detection, through data pro-
cessing, perception, and situation awareness to motion planning and control are
outlined.
Thebookisanintroductionintomodelingandautomaticcontrolofvehiclesand
itscomponentswithmanypracticalexamplesandexperimentaltestdriveresults.It
is oriented to advanced students of control, electrical, mechanical, and automotive
engineering and will also be useful for practicing engineers in the field of auto-
motive development.
The author is grateful to his research associates, who have performed many
theoretical and experimental research projects on the subject of this book since
about1990;amongthemareC.Ackermann,M.Bauer,J.B.Bechtloff,M.Beck,M.
Börner, J. Busshardt, St. Drogies, D. Fischer, St. Germann, I. Halbe, Chr. Half-
mann, H. Holzmann, Ph. Keßler, A. Khanafer, M. Kochem, R. Mannale, K. Sch-
mitt, M. Schorn, R. Schwarz, S. Semmler, U. Stählin, St. Stölzl, H. Straky, T.
Weispfenning,D.Wesemeier,andM.Würtenberger.Especiallywithregardtotheir
continuous and detailed work on new methods and building up test benches,
measurement, and computer equipment for research cars, the results of this book
would not have been possible.
We also would like to thank the research organization Deutsche Forschungs-
gemeinschaft (DFG), the colleagues from the (DFG) funded special research pro-
gram (Sonderforschungsbereich) IMES on Mechatronic Systems (1988–2001).
Several results were obtained in cooperation with Adam Opel AG, Bosch Engi-
neering GmbH, Continental-Teves AG, Daimler AG and during the
Industry/University cooperation project PRORETA, funded by Continental AG,
Frankfurt.Weappreciate thesecooperationsstronglyastheycontributedgreatlyto
our own research.
Finally,IwouldliketothankBrigitteHoppe,S.Babilon,S.Rajurkar,T.Pham,
andespeciallyD.TimothyandA.Weberforthelaboriousandprecisetextsetting,
Sandra Schütz for drawing figures, Ilse Brauer for organizational and team work,
and Springer Verlag for the excellent cooperation.
Darmstadt, Germany Rolf Isermann
January 2021
Contents
1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.1 Mechatronic Components and First Driver-Assistance
Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.2 Automatic Vehicle Control Developments . . . . . . . . . . . . . . . . 3
1.3 Contents of the Book . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Part I Electronic Architectures and Control Structures
2 Electrical and Electronic Architectures of Automobiles . . . . . . . . . 15
2.1 Types of Network Architectures . . . . . . . . . . . . . . . . . . . . . . . 15
2.2 Electronic Communication Networks . . . . . . . . . . . . . . . . . . . . 16
2.2.1 Network Nodes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
2.2.2 Network Topologies. . . . . . . . . . . . . . . . . . . . . . . . . . 17
2.2.3 Bus Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
2.2.4 Gateways. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
2.2.5 Electronic Network Architectures . . . . . . . . . . . . . . . . 27
2.3 Software Structure of the Electronic Control Units . . . . . . . . . . 30
2.3.1 Conventional Software Structure . . . . . . . . . . . . . . . . . 30
2.3.2 Multilevel-Software Structure . . . . . . . . . . . . . . . . . . . 30
2.3.3 AUTOSAR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
3 Vehicle Control Structures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
3.1 Overall Vehicle Control Structures. . . . . . . . . . . . . . . . . . . . . . 35
3.2 Control Structures of the Powertrain . . . . . . . . . . . . . . . . . . . . 38
3.2.1 Control Structure of Internal Combustion Engines . . . . 38
3.2.2 Control Structure of Hybrid Drives . . . . . . . . . . . . . . . 41
3.3 Design of Vehicle Control Systems . . . . . . . . . . . . . . . . . . . . . 43
3.3.1 Vehicle-Oriented Electronic Control Design. . . . . . . . . 43
vii
viii Contents
3.3.2 Model-Based Control-Function Development
with Special Design and Simulation Tools. . . . . . . . . . 52
3.3.3 Control-Software Development . . . . . . . . . . . . . . . . . . 54
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
Part II Modeling of Drive Dynamics
4 Vehicle Dynamics Modeling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
4.1 Coordinate Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
4.1.1 Definition of Coordinate Systems . . . . . . . . . . . . . . . . 66
4.1.2 Transformations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
4.2 Model Building Approaches . . . . . . . . . . . . . . . . . . . . . . . . . . 68
4.2.1 Theoretical and Experimental Modeling. . . . . . . . . . . . 70
4.2.2 Semi-physical Models. . . . . . . . . . . . . . . . . . . . . . . . . 71
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
5 Tire Traction and Force Transfer. . . . . . . . . . . . . . . . . . . . . . . . . . 75
5.1 Longitudinal Tire Forces. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
5.2 Lateral Tire Forces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
5.3 Combined Longitudinal and Lateral Forces . . . . . . . . . . . . . . . 87
5.4 Lateral Tire Dynamics. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
5.5 Longitudinal Dynamic Wheel Models . . . . . . . . . . . . . . . . . . . 97
5.6 Tire Forces for Aquaplaning . . . . . . . . . . . . . . . . . . . . . . . . . . 101
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
6 Longitudinal Vehicle Behavior . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
6.1 Vehicle Components for the Longitudinal Behavior
of Vehicles. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
6.2 Internal Combustion Engine Models . . . . . . . . . . . . . . . . . . . . 108
6.2.1 Gasoline Engine. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
6.2.2 Diesel Engine. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
6.3 Drive Train with Friction Clutch and Shifted Transmission . . . . 116
6.3.1 Dry-Plate Friction Clutch . . . . . . . . . . . . . . . . . . . . . . 117
6.3.2 Shifted Transmission, Propeller Shaft,
and Differential . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118
6.3.3 Drive Shaft and Wheels . . . . . . . . . . . . . . . . . . . . . . . 120
6.4 Drive Train with Automatic Hydrodynamic Transmission . . . . . 121
6.5 Longitudinal Vehicle Model . . . . . . . . . . . . . . . . . . . . . . . . . . 126
6.5.1 Basic Longitudinal Vehicle Model . . . . . . . . . . . . . . . 126
6.5.2 Simplified Vehicle Model with Stiff Powertrain
(One-Mass System) . . . . . . . . . . . . . . . . . . . . . . . . . . 129
6.5.3 The Drive Train As a Two-Mass-System. . . . . . . . . . . 132
6.5.4 Vertical Wheel Forces for Stationary and Dynamic
Behavior . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133
Contents ix
6.6 Acceleration Behavior. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136
6.6.1 Simplified Acceleration Model . . . . . . . . . . . . . . . . . . 136
6.6.2 Acceleration Models with Variable Slip
and Vertical Forces . . . . . . . . . . . . . . . . . . . . . . . . . . 139
6.7 Braking Behavior . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140
6.7.1 Simplified Braking Model. . . . . . . . . . . . . . . . . . . . . . 140
6.7.2 Braking Models with Variable Slip and Vertical
Forces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145
7 Lateral Vehicle Behavior. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147
7.1 Kinematic Models for Lateral Behavior . . . . . . . . . . . . . . . . . . 147
7.2 Dynamic One-Track Models . . . . . . . . . . . . . . . . . . . . . . . . . . 150
7.2.1 Nonlinear One-Track Model . . . . . . . . . . . . . . . . . . . . 150
7.2.2 Linearized One-Track Model. . . . . . . . . . . . . . . . . . . . 155
7.2.3 Parameter Variations. . . . . . . . . . . . . . . . . . . . . . . . . . 160
7.2.4 Characteristic Velocity and Stability . . . . . . . . . . . . . . 163
7.2.5 Stationary Cornering. . . . . . . . . . . . . . . . . . . . . . . . . . 167
7.2.6 Comparison with Measurements . . . . . . . . . . . . . . . . . 170
7.2.7 Wheel Slip Angle Difference Model . . . . . . . . . . . . . . 172
7.3 Dynamic Two-Track Models. . . . . . . . . . . . . . . . . . . . . . . . . . 174
7.3.1 General Two-Track Model . . . . . . . . . . . . . . . . . . . . . 175
7.3.2 Simplified Two-Track Model, Even Road Plane. . . . . . 180
7.3.3 Two-Track Model with Road Gradients, Front
and Rear Wheel Steering . . . . . . . . . . . . . . . . . . . . . . 190
7.3.4 Nonlinear One-Track Model with Road Gradients . . . . 193
7.3.5 Comparison of Different Lateral Vehicle Models . . . . . 197
7.3.6 Effect of Parameter Variations on the Lateral
Behavior . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 201
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 206
8 Vertical Vehicle Behavior . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 209
8.1 Vehicle Suspensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 209
8.1.1 Driving Comfort and Safety . . . . . . . . . . . . . . . . . . . . 209
8.1.2 Suspension Components . . . . . . . . . . . . . . . . . . . . . . . 214
8.2 Passive Suspension Models . . . . . . . . . . . . . . . . . . . . . . . . . . . 216
8.2.1 Linear Suspension Model . . . . . . . . . . . . . . . . . . . . . . 217
8.2.2 Nonlinear Suspension Models. . . . . . . . . . . . . . . . . . . 219
8.3 Parameter Identification of Semi-active Suspensions . . . . . . . . . 220
8.3.1 Parameter Identification of a Quarter-Car
Suspension. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 220
8.3.2 Parameter Identification of a Driving Vehicle. . . . . . . . 222
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 227