分布式驱动电动汽车底盘集成控制技术综述

Review of Chassis Integrated Control Technology for Distributed Drive Electric Vehicles

分布式驱动电动汽车可控自由度高、响应速度快、底盘线控集成度高、车辆结构紧凑,是实现先进车辆动力学控制技术的最佳平台。线控转向系统、线控驱动/制动系统、线控悬架系统等线控系统,制动防抱死系统、车道保持系统、自适应巡航系统、变道辅助系统等不同等级的辅助驾驶系统的广泛使用,造成车辆底盘控制中出现冗余及冲突。分布式驱动结构形式为多线控系统及线控系统与辅助驾驶系统间的高效、协同控制带来了更大的可能。基于此,从集成控制策略架构、纵-横向动力学集成控制、横-垂向动力学集成控制、纵-垂向动力学集成控制、纵-横-垂向动力学集成控制、容错控制、分布式驱动智能电动汽车底盘动力学集成控制等方面重点阐述分布式驱动电动汽车底盘集成控制技术的最新进展。通过对文献分析总结可以看出:基于分层式控制架构的分布式驱动电动汽车动力学集成控制是当前研究重点;一体化集成控制目标、高级辅助驾驶系统与底盘控制系统深度融合及个性化集成控制等问题亟待解决。研究成果能为分布式驱动电动汽车底盘高性能集成控制技术发展提供参考。

Distributed drive electric vehicles have a high degree of controllable freedom,fast response time,high chassis drive-by-wire integration,and compact vehicle structure,making them the best platform for realizing advanced vehicle dynamics control technology.The widespread use of wired control systems,such as steer-by-wire,drive-by-wire,brake-by-wire,suspension-by-wire,and different levels of driver assistance systems,such as anti-lock brake systems,lane keeping systems,adaptive cruise control,and lane change assist systems,result in redundancies and conflicts in the control of the vehicle chassis.The distributed driving format provides more possibilities for efficient and cooperative control between the multiwire control and auxiliary driving systems.This paper highlights the latest progress in distributed drive electric vehicle integrated control technology in terms of integrated control strategy architecture,longitudinal-lateral integration control,lateral-vertical integration control,longitudinal-vertical dynamic integrated control,longitudinal-lateral-vertical dynamic integrated control,fault-tolerant control,and chassis dynamics integrated control for distributed drive intelligent electric vehicles.It also provides an outlook on the development direction from multiple perspectives,aiming to provide a reference for developing high-performance integrated chassis control technology for distributed electric vehicles.