Automotive Control: Modeling and Control of Vehicles

304317_1_En_OFC
304317_1_En_BookFrontmatter_OnlinePDF
	Preface
	Contents
	Symbols
304317_1_En_1_Chapter_OnlinePDF
	1 Introduction
		1.1 Mechatronic Components and First Driver-Assistance Systems
		1.2 Automatic Vehicle Control Developments
		1.3 Contents of the Book
304317_1_En_1_PartFrontmatter_OnlinePDF
	blackPart I Electronic Architectures and Control  Structures-1pt
304317_1_En_2_Chapter_OnlinePDF
	2 Electrical and Electronic Architectures of Automobiles
		2.1 Types of Network Architectures
		2.2 Electronic Communication Networks
			2.2.1 Network Nodes
			2.2.2 Network Topologies
			2.2.3 Bus Systems
			2.2.4 Gateways
			2.2.5 Electronic Network Architectures
		2.3 Software Structure of the Electronic Control Units
			2.3.1 Conventional Software Structure
			2.3.2 Multilevel-Software Structure
			2.3.3 AUTOSAR
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	3 Vehicle Control Structures
		3.1 Overall Vehicle Control Structures
		3.2 Control Structures of the Powertrain
			3.2.1 Control Structure of Internal Combustion Engines
			3.2.2 Control Structure of Hybrid Drives
		3.3 Design of Vehicle Control Systems
			3.3.1 Vehicle-Oriented Electronic Control Design
			3.3.2 Model-Based Control-Function Development with Special Design and Simulation Tools
			3.3.3 Control-Software Development
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	blackPart II Modeling of Drive Dynamics-1pt
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	4 Vehicle Dynamics Modeling
		4.1 Coordinate Systems
			4.1.1 Definition of Coordinate Systems
			4.1.2 Transformations
		4.2 Model Building Approaches
			4.2.1 Theoretical and Experimental Modeling
			4.2.2 Semi-physical Models
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	5 Tire Traction and Force Transfer
		5.1 Longitudinal Tire Forces
		5.2 Lateral Tire Forces
		5.3 Combined Longitudinal and Lateral Forces
		5.4 Lateral Tire Dynamics
		5.5 Longitudinal Dynamic Wheel Models
		5.6 Tire Forces for Aquaplaning
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	6 Longitudinal Vehicle Behavior
		6.1 Vehicle Components for the Longitudinal Behavior of Vehicles
		6.2 Internal Combustion Engine Models
			6.2.1 Gasoline Engine
			6.2.2 Diesel Engine
		6.3 Drive Train with Friction Clutch and Shifted Transmission
			6.3.1 Dry-Plate Friction Clutch
			6.3.2 Shifted Transmission, Propeller Shaft, and Differential
			6.3.3 Drive Shaft and Wheels
		6.4 Drive Train with Automatic Hydrodynamic Transmission
		6.5 Longitudinal Vehicle Model
			6.5.1 Basic Longitudinal Vehicle Model
			6.5.2 Simplified Vehicle Model with Stiff Powertrain (One-Mass System)
			6.5.3 The Drive Train As a Two-Mass-System
			6.5.4 Vertical Wheel Forces for Stationary and Dynamic Behavior
		6.6 Acceleration Behavior
			6.6.1 Simplified Acceleration Model
			6.6.2 Acceleration Models with Variable Slip and Vertical Forces
		6.7 Braking Behavior
			6.7.1 Simplified Braking Model
			6.7.2 Braking Models with Variable Slip and Vertical Forces
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	7 Lateral Vehicle Behavior
		7.1 Kinematic Models for Lateral Behavior
		7.2 Dynamic One-Track Models
			7.2.1 Nonlinear One-Track Model
			7.2.2 Linearized One-Track Model
			7.2.3 Parameter Variations
			7.2.4 Characteristic Velocity and Stability
			7.2.5 Stationary Cornering
			7.2.6 Comparison with Measurements
			7.2.7 Wheel Slip Angle Difference Model
		7.3 Dynamic Two-Track Models
			7.3.1 General Two-Track Model
			7.3.2 Simplified Two-Track Model, Even Road Plane
			7.3.3 Two-Track Model with Road Gradients, Front and Rear Wheel Steering
			7.3.4 Nonlinear One-Track Model with Road Gradients
			7.3.5 Comparison of Different Lateral Vehicle Models
			7.3.6 Effect of Parameter Variations on the Lateral Behavior
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	8 Vertical Vehicle Behavior
		8.1 Vehicle Suspensions
			8.1.1 Driving Comfort and Safety
			8.1.2 Suspension Components
		8.2 Passive Suspension Models
			8.2.1 Linear Suspension Model
			8.2.2 Nonlinear Suspension Models
		8.3 Parameter Identification of Semi-active Suspensions
			8.3.1 Parameter Identification of a Quarter-Car Suspension
			8.3.2 Parameter Identification of a Driving Vehicle
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	9 Roll and Pitch Dynamic Behavior
		9.1 Roll Dynamic Model
		9.2 Pitch Dynamic Model
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	10 Parameter and State-Estimation Methods for Vehicle Dynamics
		10.1 Parameter-Estimation Methods
			10.1.1 Method of Least Squares Parameter Estimation (LS), Discrete Time
			10.1.2 Method of Least Squares Parameter Estimation (LS), Continuous Time
		10.2 State Variable Estimation
			10.2.1 State Observer, Continuous Time
			10.2.2 Nonlinear State Observer, Continuous Time
			10.2.3 State Estimation (Kalman Filter), Discrete Time
			10.2.4 Extended Kalman Filter
			10.2.5 Determination of Derivatives
		10.3 Driving Maneuvers
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	11 Parameter Estimation (Identification) of Vehicle Dynamics
		11.1 Vehicle Mass and Resistance Parameters
		11.2 Center of Gravity Coordinates
		11.3 Dynamic Rolling Tire Radius
		11.4 Road Gradients
			11.4.1 Longitudinal Road Gradient
			11.4.2 Lateral Road Gradient
		11.5 Understeer Gradient
		11.6 Tire Model Parameters
			11.6.1 Longitudinal Tire Model Parameters: Friction Coefficient Estimation
			11.6.2 Lateral Tire Model Parameters: Cornering Stiffness Estimation
		11.7 Mass Moments of Inertia
		11.8 Roll and Pitch Dynamic Parameters
			11.8.1 Roll Dynamic Parameters
			11.8.2 Pitch Dynamic Parameters
304317_1_En_12_Chapter_OnlinePDF
	12 State Estimation of Vehicles
		12.1 State Estimation of the Vehicle Position
			12.1.1 Odometric Position Estimation for an Earth Fixed Coordinate System
			12.1.2 Odometric Position Estimation for a Bent Road
		12.2 State Estimation of the Ground Velocity with Kinematic Vehicle Models
			12.2.1 Use of the Wheel Angular Velocities
			12.2.2 Use of the Wheel Angular Velocities and the Acceleration
		12.3 State Estimation for the Lateral Vehicle Behavior
			12.3.1 Slip Angle Estimation for Special Driving Maneuvers with Kinematic Models
			12.3.2 Slip Angle Estimation with State Observers (General Dynamic Driving Maneuvers)
			12.3.3 Slip Angle Estimation with Kalman Filters
		12.4 State Estimation of the Roll Angle and Pitch Angle
			12.4.1 State Estimation of the Roll Angle
			12.4.2 State Estimation of the Pitch Angle
		12.5 Expanded Vehicle State Estimation with an Extended …
		12.6 Vehicle State Estimation with Additional 3D-GPS Measurements …
			12.6.1 Roll Angle and Yaw Angle Estimation
			12.6.2 Vehicle State Estimation with a Two-Track Model
304317_1_En_3_PartFrontmatter_OnlinePDF
	blackPart III Dynamic Control of Chassis Components-1pt
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	13 Braking Control
		13.1 Hydraulic Brake System
		13.2 Models of a Hydraulic Brake Circuit
			13.2.1 Pneumatic Brake Booster
			13.2.2 Brake Circuit
		13.3 Anti-lock Control with Switching Valves (ABS)
		13.4 Electromechanical Brake Booster
		13.5 Electro-Hydraulic Brake System (EHB)
		13.6 EHB Slip Control with Proportional Valves
		13.7 Electromechanical Brake (EMB)
			13.7.1 Introduction
			13.7.2 Electromechanical Brake Module
			13.7.3 EMB-brake Model
			13.7.4 Simplified EMB-brake Model
			13.7.5 Simulation and Measurement
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	14 Steering Control Systems
		14.1 Mechanical Steering Systems
			14.1.1 Types of Steering Systems
			14.1.2 Stationary and Dynamic Behavior of Mechanical Steering Systems
			14.1.3 Frequency Ranges of Interest
		14.2 Power-Assisted Steering Systems
			14.2.1 Kinematic Relations for Power Steering
		14.3 Hydraulic Power Steering (HPS)
			14.3.1 Basic Designs of HPS
			14.3.2 Dynamic Models of HPS
		14.4 Electrical Power Steering (EPS)
			14.4.1 Basic Designs of EPS Systems
			14.4.2 Components of EPS Systems
			14.4.3 Dynamic Models of Electrical Power Steering Systems (EPS)
			14.4.4 Fault-Tolerant EPS-Structures
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	15 Suspension Control Systems
		15.1 Classification of Suspension Systems
		15.2 Semi-active Suspensions
			15.2.1 Semi-active Dampers
			15.2.2 Load-Leveling System
			15.2.3 Semi-active Spring
		15.3 Control of Semi-active Suspensions
			15.3.1 Parameter-Adaptive Semi-active Dampers
			15.3.2 State Feedback Controlled Semi-active Suspensions
		15.4 Active Suspensions
			15.4.1 Active Suspension Principles
			15.4.2 On Active Suspension Control
			15.4.3 Active Hydraulic Suspension
		15.5 Tire Pressure Monitoring with Wheel and Suspension Sensors
			15.5.1 Comparison of Wheel's Speeds
			15.5.2 Torsional Wheel Speed Oscillations
			15.5.3 Vertical Wheel Acceleration
			15.5.4 Comparison and Fusion of the Methods
304317_1_En_4_PartFrontmatter_OnlinePDF
	blackPart IV Driver-Assistance Systems-1pt
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	16 On Driver-Assistance Systems
		16.1 Passive and Active Driver-Assistance Systems
		16.2 Sensor Systems for Advanced Driver-Assistance Systems
		16.3 Environment Representation
304317_1_En_17_Chapter_OnlinePDF
	17 Advanced Driver Assistance Systems for Longitudinal and Lateral Guidance
		17.1 Traction Control System (TCS)
		17.2 Electronic Stability Control (ESC)
			17.2.1 ESC for Oversteering
			17.2.2 Simplified ESC for Over- and Understeering
		17.3 Lane Keeping Assistance (LDW/LKA)
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	blackPart V Automatic Driving-1pt
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	18 Classification of Automatic Driving Functions
		18.1 Degrees of Automatic Driving
		18.2 Driving Maneuvers
		18.3 On the Design of Automotive Control Systems
304317_1_En_19_Chapter_OnlinePDF
	19 Longitudinal Vehicle Control
		19.1 Acceleration Control
		19.2 Velocity Control
		19.3 Distance Control
		19.4 Adaptive Cruise Control (ACC)
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	20 Lateral Vehicle Control
		20.1 Path Control for Straight Lanes
			20.1.1 Path Control Beside the Vehicle
			20.1.2 Path Control Ahead of the Vehicle
		20.2 Path Control for Curves
		20.3 Lane Change Control
		20.4 Lane Merging Control
304317_1_En_21_Chapter_OnlinePDF
	21 Anticollision Control Systems
		21.1 Anticollision Brake and Steering
			21.1.1 The Research Vehicle
			21.1.2 Evasive Path
			21.1.3 Intervention Decision
			21.1.4 Lateral Vehicle Guidance
			21.1.5 Experimental Results from Test Drives
		21.2 Collision-Avoidance System for Overtaking Maneuvers and Oncoming Traffic
			21.2.1 The Research Vehicle
			21.2.2 Overtaking-Maneuver Detection
			21.2.3 Overtaking Prediction and Threat Analysis
			21.2.4 Warnings and Emergency Braking
			21.2.5 Driving Experiments
			21.2.6 Conclusions
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	22 Automatic (Autonomous) Driving
		22.1 On the Historic Development of Automatic Driving
		22.2 On the Development of Automatic Driving Vehicles
		22.3 Progress by Evolution
		22.4 Safety and Fault Tolerance
304317_1_En_BookBackmatter_OnlinePDF
	A Appendix
		A.1  Basic Control Structures and Controllers
			A.1.1  Basic Control Structure
			A.1.2  Linear Feedforward Control
			A.1.3  Linear Feedback Control
	Index