Special Interest Session


PatrickGruberPatrick Gruber*, Aldo Sorniotti*, Basilio Lenzo*, Giovanni De Fillips* and Saber Fallah*:

Energy efficient torque vectoring control

*University of Surrey, UK

“Tyres forces are at the heart of the dynamic qualities of vehicles. With the advent of electric vehicles the precise and accurate control of the traction and braking forces at the individual wheel becomes a possibility and a reality outside test labs and virtual proving grounds. Benefits of individual wheel torque control, or torque-vectoring, in terms of vehicle dynamics behaviour have been well documented in the literature. However, very few studies exist which analyse the individual wheel torque control integrated with vehicle efficiency considerations. The presentation focuses on this aspect and discusses the possibilities and benefits of integrated, energy-efficient torque vectoring control by presenting theoretical and experimental results obtained during the European-funded projects E-VECTOORC and iCOMPOSE.”

Deur Josko Deur*, Mirko Coric*, Li Xu**, H. Eric Tseng**, and Davor Hrovat**:

Optimization-based analysis of active suspension authority within integrated vehicle dynamics control systems

* University of Zagreb, Croatia
** Ford Research and Innovation Center, Dearborn, MI, USA

“Active suspension is commonly considered under the framework of vertical vehicle dynamics control aimed at improvements in ride comfort. This paper uses a collocation-type control variable optimization method to analyze to which extent the fully active suspension (FAS) application can be broaden to the tasks of vehicle handling/cornering control and braking distance reduction. The emphasis is on integrated control systems, where the FAS control action supports other actuators such as active brakes and active steering. The analysis is extended to the ride control task for the case of emphasized, discrete road disturbances such as high-magnitude bumps and potholes. The main control objective is to provide a favorable trade-off of ride comfort and road holding capability, as well as a robustness against wheel damage, e.g. at the pothole trailing edge. The optimization is based on a nonlinear 10-DOF vehicle dynamics model, including a combined-slip tire model, and it is subject to various, generally nonlinear equality and inequality constraints.”

MatsJonassonMats Jonasson*, Mikael Thor*:

Steering Redundancy for Self-Driving Vehicles using Differential Braking

*Active Safety & Vehicle Dynamic Functions, Volvo Cars, Göteborg, Sweden

“To fulfil the safety goals of self-driving vehicles they must be fail operational. A fault in a vehicle’s system architecture during autonomous driving may lead to serious failures, where the vehicle risks to not be controllable. One challenge is actuator faults and in particular those arising in the steering actuator. By isolating the fault and re-configure the vehicle control system, the brake system can be exploited temporary to regain control of the vehicle. The work includes definition of limits of motion and examples of how tyre forces can be controlled to track a curvature reference.“

thumb MaulickGauthier Boisdequin*, Thomas Maulick*, Stefan Sabath*:

Development of vehicle dynamics characteristics using modern chassis systems for body control depending on the vehicle concept

*Porsche AG, Weissach, Germany

“The active roll compensation system is well-known for the main goal it is designed for: body roll reduction under lateral acceleration that enhances the sporty character of a vehicle and its driving experience. But there is more to it than that. The system influences vehicle dynamics much deeper. It also increases driving performance, agility, precision and the typical Porsche spread between handling and ride comfort. This paper takes that system as an example to detail the main objectives of the active chassis systems regarding vehicle dynamics, their functions and their performances when combined with different vehicle concepts. Those performances are objectively described by the objective vehicle dynamics criteria. This paper also gives an overview over the complete range of chassis control systems offered by Porsche and their functional characteristics.”

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