车辆动力学集成控制综述

Review on Integrated Vehicle Dynamics Control

首先对车辆动力学集成控制的发展和研究进行了全面回顾,然后对集成控制系统的协调策略进行了总结。为进一步提高车辆主动安全性的潜力,未来研究的重点仍将是对转向和制动/驱动的集成控制,其中一个典型的研究问题是在考虑轮胎和车辆非线性以及执行器限制条件的基础上,将车辆稳定控制力/力矩最优地分配到每个车轮/轮胎上。显然,随着未来线控驾驶以及新型可控系统的广泛应用,车辆动力学控制的集成化必然成为发展趋势。

By coordinating different chassis control subsystems, integrated vehicle dynamics control （IVDC） can avoid system interferences and thus improve overall vehicle dynamics performance. First, the roadmap and methodologies of IVDC were reviewed, and then the control strategies of coordination between the subsystems were summarized. To further improve vehicle active safety, the integration between steering and braking/traction will still be most concerned in future IVDC study. A typical question can be that, based on the consideration of practical actuator limits and the non-linearity both in tire and vehicle, how to optimally assign the required stabilizing force/moment to each wheel/tire. Particularly, once X-by-wire technology and novel active control systems are widely used, more potential benefits of IVDC can be expected.