TY - JOUR
T1 - Chassis Global Dynamics Optimization for Automated Vehicles
T2 - A Multiactuator Integrated Control Method
AU - Cheng, Shuo
AU - Peng, Hao Nan
AU - Yang, Chao
AU - Wang, Wei Da
AU - Li, Liang
N1 - Publisher Copyright:
© 2013 IEEE.
PY - 2024/1/1
Y1 - 2024/1/1
N2 - Vehicle chassis coordinated control always has been an appealing topic in academia and industry because of the increasing number of chassis electronic actuators with the rapid development of automated vehicles. The optimization of multiple performance targets with multiactuators is intractable, which involves trajectory tracking and handling stability. Additionally, the optimization of tire friction usage remains a knotty problem. Therefore, this article develops a global chassis multiactuator integrated control framework, named by the chassis domain controller (CDC), to realize chassis global dynamics optimization for automated vehicles. Aiming at realizing more efficient, reliable, and flexible mobility, this framework defines each individual wheel to be fully adjustable and controllable to overcome the individual actuation limitation of traditional chassis structures. Global chassis dynamic modeling is formulated based on the analysis of distributed and controllable tire modules and vehicle dynamics motions. A game-theoretical control scheme is proposed to formulate chassis multiactuator integrated control, and the chassis global dynamics can be optimized by guaranteeing a Nash equilibrium for this game. Various experimental results demonstrate the feasibility and effectiveness of the proposed control method, and it suggests the CDC merits further studies to enhance the dynamics performance of automated vehicles in full situations.
AB - Vehicle chassis coordinated control always has been an appealing topic in academia and industry because of the increasing number of chassis electronic actuators with the rapid development of automated vehicles. The optimization of multiple performance targets with multiactuators is intractable, which involves trajectory tracking and handling stability. Additionally, the optimization of tire friction usage remains a knotty problem. Therefore, this article develops a global chassis multiactuator integrated control framework, named by the chassis domain controller (CDC), to realize chassis global dynamics optimization for automated vehicles. Aiming at realizing more efficient, reliable, and flexible mobility, this framework defines each individual wheel to be fully adjustable and controllable to overcome the individual actuation limitation of traditional chassis structures. Global chassis dynamic modeling is formulated based on the analysis of distributed and controllable tire modules and vehicle dynamics motions. A game-theoretical control scheme is proposed to formulate chassis multiactuator integrated control, and the chassis global dynamics can be optimized by guaranteeing a Nash equilibrium for this game. Various experimental results demonstrate the feasibility and effectiveness of the proposed control method, and it suggests the CDC merits further studies to enhance the dynamics performance of automated vehicles in full situations.
KW - Chassis global optimization
KW - game theory
KW - multiactuator integrated control
KW - vehicle dynamics
UR - http://www.scopus.com/inward/record.url?scp=85173034503&partnerID=8YFLogxK
U2 - 10.1109/TSMC.2023.3311446
DO - 10.1109/TSMC.2023.3311446
M3 - Article
AN - SCOPUS:85173034503
SN - 2168-2216
VL - 54
SP - 578
EP - 587
JO - IEEE Transactions on Systems, Man, and Cybernetics: Systems
JF - IEEE Transactions on Systems, Man, and Cybernetics: Systems
IS - 1
ER -