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ARI

Tsinghua


Vehicle Control Engineering
Shengbo Eben LI

Department of Automotive Engineering


Tsinghua University

710150113 Vehicle Control Engineering -Lecture-1


ARI
Lecture-1 Preface and Introduction Tsinghua

Outline
/Preface


Chapter 1 Introduction and Perspectives of
Vehicle Control Technology

710150113 Vehicle Control Engineering -Lecture-1


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/Preface Tsinghua


Motivation of Courses


Reference Books


Objective & Grading Policy

710150113 Vehicle Control Engineering -Lecture-1


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Preface Tsinghua


Vehicle is the platform integrating modern science and
technologies

/ VehicleCar
/ Mobile Robot
/ Mobile Information Platform

Vehicle is now a computerized machine

710150113 Vehicle Control Engineering -Lecture-1


/Todays State of the Art
ARI
Tsinghua

S-Class Daimler-Benz
/Driver /Chassis/drive Control
information/Communication ABS / TCS
/Car audio VDC ( VSC, ESP )
/Car phone /Power steering
/Navigation system / Adaptive
USB/AUX Damping System
/Media Interface including USB 4/ 4-wheel drive
and AUX /Brake assist
//Convenience / body control/ system(BAS)
advanced safety /Lane keeping assist
/Automatic climate control
/Central locking /Power train
/Adaptive Cruise control /Engine
/Power seats management system
/Soundproofed windows / E. Fuel injection
/PRE-SAFE /Electronic ignition
Occupant protection system /Transmission
/KEYLESS-GO access system control system
/Adaptive highbeam assist / Automatic cylinder shut-
/Tire pressure loss off
warning system
710150113 Vehicle Control Engineering -Lecture-1
/Todays State of the Art
ARI
Tsinghua

710150113 Vehicle Control Engineering -Lecture-1


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Tsinghua
Vehicle Intelligent Safety Assistant Systems

Enhance Drivers Perception Utilizing Sensors & Electronic Tech.

Estimate Vehicles Safe State Based on Integrated Information of Driver, Road
and Vehicle

Automatic Vehicle Control in order to Drive Safely and Avoid Dangerous
Situations

710150113 Vehicle Control Engineering -Lecture-1


/Questions
ARI
Tsinghua

1. How to model vehicle electronic control systems ?


?

2. How to design vehicle electronic control systems ?


?

710150113 Vehicle Control Engineering -Lecture-1


/Introduction to this Course
ARI
Tsinghua

/Vehicle Control Engineering




Based on Control Theory and Vehicle Dynamics, this


course will present the control strategies, system designs
and evaluation methods for vehicle electronic control
devices, and introduce the state of the art of vehicle
control technologies and the trend of future development.

710150113 Vehicle Control Engineering -Lecture-1


/Course Content
ARI
Tsinghua

Chapter 1, Introduction to Vehicle Control Technology



Chapter 2, Fundamentals of Vehicle Dynamics and Control

Chapter 3, Engine/Drivetrain Control /
Emission Control/
Fuel Economics & Dynamic Performance Control /
Automatic Transmission /
Chapter 4, Chassis Control /
ABS & TCS/
Vehicle Dynamics Control / ESP /
Active Suspension / ANC / /
Chapter 5, Intelligent Vehicle/Intelligent Transportation Systems / /ITS
- ITS/AVCSS /
- FCW/CASACC / /

710150113 Vehicle Control Engineering -Lecture-1


/Objective of this course ARI
Tsinghua

Introduce the concepts and terminology, the state-of-


the-art of system development and basic principles of
various vehicle control systems.

PrinciplesRather Than Specifics Will be Emphasized


After finishing this course, students should be able to
understand the papers on these subjects and perform
independent design, research and development work in
this field.

710150113 Vehicle Control Engineering -Lecture-1


/Related Courses
ARI
Tsinghua

Vehicle Dynamics
Longitudinal, lateral and vertical dynamics

Control Theory
PID, optimal control, model predictive control, etc

Matlab/Simulink

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/Textbook and Reference Books Tsinghua


Textbook : lecture notes and assigned papers

1 Fundamentals of Vehicle Dynamics Thomas. Gillespie


2 Vehicle Dynamics and Control Rajesh Rajamani
3 The future of PID control -- K. Astrom, T. Hagglund
4 Control: A perspective- K. Astrom, P. Kumar
5 Optimal control theory- An introduction Donald Kirk
6 Predictive Control with Constraints J Maciejowski

710150113 Vehicle Control Engineering -Lecture-1


/Grading Policy ARI
Tsinghua

/Grading: Class Behavior 10%


4~5 Homework 50%
Final Project/Presentation 40%
/Class Behavior

Dont be absent or late.
Participate in the class discussions actively.
TA will evaluate your class behavior
/ Homework:

Homework must be handed in two weeks after each assignment.
Typewriting and printed are required (NO hand-writing).
/ Office hours:
Teaching assistantMonday to Wednesday, 1pm~5pm
Shengbo Li Friday afternoon, 4PM to 5PM, A643, LSK Building
14 710150113 Vehicle Control Engineering -Lecture-1
/Grading Policy ARI
Tsinghua

/Group Project:
12
1518
Project topic will be given in the 12th week; Any vehicle control topics
approved by teachers or teaching assistant
Middle report should be handed before 15th week. A final report is due by
5pm on Friday of the last week.

/Driver Simulator Experiment:



The lab experiment involves virtual driving test in driver simulator, which
is part of the assigned final project

710150113 Vehicle Control Engineering -Lecture-1


/Final Project ARI
Tsinghua

1. Form a project team


2-3 people with
- Common hours for group meetings
- Complementary skills ( programming, modeling, technical writing, controls)
- Same level of commitment (do anything for perfect, just enough for
passing )
- Common interest on the project topic.

2. Project proposal
1-2 pages long. It should contain
- Project title
- List of team members (Name&E-mail)
- Description of the project scope and tasks, Time table in weeks
- Hardware and software platform

710150113 Vehicle Control Engineering -Lecture-1


/Final Project ARI
Tsinghua

3. Middle-term report
- Task allocation, time schedule
- Up-to-date results of final project
- Questions in final project

4. Project report and presentation


- Report must be no more than 10 pages (fonts >10)
- Final presentation (20 min, including Q/A)
- Every member should present his/her own work (5min/person)
- Evaluated by both teachers and other groups

- Project report uses IEEE Journal Template (Double column, 10 fontsize)

710150113 Vehicle Control Engineering -Lecture-1


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/Teaching Team Tsinghua

Lecturer: Keqiang LI
Office: A644, Lee Shau Kee Sci. & Tech. Building
Email: likq@tsinghua.edu.cn
Office: 627-88774
Mobile: 13641095298

Lecturer: Shengbo Eben LI


Office: A643, Lee Shau Kee Sci. & Tech. Building
Email: lishbo@tsinghua.edu.cn
Office: 627-96150
Mobile: 13552229957

Teaching Assistant: Tinghan Wang, Zhitao Wang


Office: Room A639, Lee Shau Kee Sci. & Tech. Building
Email: wangtinghan23@163.com;
wangzt16@mails.tsinghua.edu.cn
Mobile: 18810461625
18811367634 710150113 Vehicle Control Engineering -Lecture-1
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/Working Language Tsinghua

English is working language of the course

English is recommended for all class-related


and group activities
Lectures
Discussions, questions and answers
Homework, reports
Group communications
Online classroom postings, discussions
Etc.

710150113 Vehicle Control Engineering -Lecture-1


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/Online Classroom Tsinghua

The following features will be used


Bulletin post announcements
Information just course abstract
Lecture Notes
Lecture PPTs in PDF format after each
lecture
References
Problem Sets
Assignment and processing
Discussion everyone can speak there

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/How to get to know each other Tsinghua

See student list online

The online classroom is a good place for


communication

We also need other places


Email your name, email address, phone
numbers to the TA
The TA will then post an address list

710150113 Vehicle Control Engineering -Lecture-1


ARI
Chapter 1, Introduction to Vehicle Control Technology Tsinghua


Outline
( 21 )
Background (Challenge of Vehicle in the 21th
century)


Application of Electronic Control Tech. on Vehicle


State of the Art Vehicle Electronic Control Tech.

710150113 Vehicle Control Engineering -Lecture-1


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/Background Tsinghua

/ Environmental Issue

Global : global warming, Ozone destroyed

Local : acid rain, air pollution, noise in cities
/ Safety Issue
Loss of life and property
Traffic jam
/ Energy Issue
()
Energy shortage (how many years for oil drilling?)

710150113 Vehicle Control Engineering -Lecture-1


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/Overall Demands Tsinghua

Efficiency, which leads to lower fuel consumption


Emission should be controlled to protect the
environment
Safety is of course a key issue
There are a number of additional objectives like
comfort, drivability, low wear, availability, and long
term functionality.
710150113 Vehicle Control Engineering -Lecture-1
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/Driving Forces of Design Improvement
Tsinghua


Regulation (Emission, Fuel economy)
/ Safety
vs./
Cost (increased complexity vs. improved quality/reliability)
(
Consumer demands ( performance, comfort)
Emission Fuel ABS Collision VSC 4WS Active
Control Economy Avoidance Suspension
Regulation +++ +++ +++
Safety + ++ ++ + +
Cost - + - -- --
Customer + + + + + + +
demand

710150113 Vehicle Control Engineering -Lecture-1


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Tsinghua
Example on the Effect of Regulation
CAFE-Corporate Average Fuel Economy
Enacted by the U.S. Congress in 1975 because of Arab Oil Embargo

n = car number
f = fuel economy (mph)

oil

26 710150113 Vehicle Control Engineering -Lecture-1


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Example on the Effect of Regulation

710150113 Vehicle Control Engineering -Lecture-1


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Example on the Effect of Regulation

Sulfur percentage in gasoline --Evolution in Japan, Europe and USA


28 710150113 Vehicle Control Engineering -Lecture-1
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Example on the Effect of Regulation

European New Car Assessment Programme (Euro-NCAP)

2014
Adult occupant 40%
Child occupant 20% Total score = 92%*0.4+79%*0.2+64%*0.2+81%*0.2
Pedestrian 20%
Total score81.6%
Safety assist 20%

710150113 Vehicle Control Engineering -Lecture-1


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Tsinghua
Example on the Effect of Regulation
European New Car Assessment Programme (Euro-NCAP)
Front impact Pole side impact

V2V side impact Whiplash


Occupant protection

Pedestrian protection Lower leg Upper leg Head


30 710150113 Vehicle Control Engineering -Lecture-1
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Tsinghua
Example on the Effect of Regulation
European New Car Assessment Programme (Euro-NCAP)

Child protection
Autonomous Emergency Brake Seat belt reminder

Speed assistance system VSC/ESC/ESP

Safety assist

31 710150113 Vehicle Control Engineering -Lecture-1


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Example on the Effect of Regulation

2013
Euro
NCAP
launch
AEB
rating

2013 2014 2015


Euro NCAP Advanced
Adult occupant 50% 40% 40%
Child occupant 20% 20% 20% Blind Spot Monitoring
Pedestrian 20% 20% 20% Lane Support Systems
Safety assist 10% 20% 20% Pre-crash systems

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Another way to understand it

A 1999 passenger car produces fewer smog forming


hydrocarbon emissions driving from Cambridge to
Providence and back than a 1970 passenger car sitting all day
in a parking lot
From Ford Motor Company

1999CambridgeProvidence
1970

710150113 Vehicle Control Engineering -Lecture-1


ARI
Chapter 1, Introduction to Vehicle Control Technology Tsinghua


Outline
( 21 )
Background (Challenge of Vehicle in the 21th
century)


Application of Electronic Control Tech. on Vehicle


State of the Art: Vehicle Electronic Control Tech.
710150113 Vehicle Control Engineering -Lecture-1
ARI
Tsinghua
Application of Electronic Control Tech. on Vehicle

/ Environment Protection / Ride Quality


&Energy Saving ANC
Active Suspension / ANC
Engine Control 4
4 Wheel Driving System
/

Engine/Drivetrain Control
Integrated Chassis Control
/ Driving Safety
/ DAS/IV
ABS
Antilock Braking System Collision Avoidance System
TCS
Traction Control System Adaptive Cruising Control
VSC/VDC/ESP
Vehicle Stability Control

710150113 Vehicle Control Engineering -Lecture-1


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Tsinghua
The trend of Mechatronized automobiles

1.


/

One of the most noticeable trend of automobiles in the


last decade is their rapid development into complex
electro-mechanical systems.
Examples:
Electronic engine and transmission controls, Cruise
control, ABS, Vehicle stability enhancement. Advanced
entertainment/information devices.
710150113 Vehicle Control Engineering -Lecture-1
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Tsinghua
The trend of Mechatronized automobiles
2.



Major advantages of mechatronic devices (over pure


mechanical devices)
- Flexibility inherent in these systems to compromise
between different goals.
- The potential to coordinate the functioning of subsystems.
- Re-programmability implies lower cost through
exchangeable part and reuse of software/algorithm.
710150113 Vehicle Control Engineering -Lecture-1
() ARI
Tsinghua
Mechanical vs. Mechatronic Devices (example)
Demands in engine fueling control

Solutions:
-Mechanical : Carburetor
-Mechatronic: Controlled fuel injection
710150113 Vehicle Control Engineering -Lecture-1
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/Carburetor Tsinghua

710150113 Vehicle Control Engineering -Lecture-1


/Fuel Injection Control System
ARI
Tsinghua

?
?

710150113 Vehicle Control Engineering -Lecture-1


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Tsinghua
Mechanical vs. Mechatronic Devices



(/)



Additional examples
Desired suspension characteristic
- Soft spring for improved ride comfort
- Stiff spring to improve attitude holding(when cornering or performing
hard acceleration / braking)
Desired power steering characteristics
- High gain at low vehicle speed (large steering angle) to reduce steering
effort)
- Low gain at high vehicle speed (small steering angle) to improve road feel
710150113 Vehicle Control Engineering -Lecture-1
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Tsinghua
Past and Current Application
1950
Year
1965
1970
1975
1980
1985 /
1990 ABS

Past1950: mechanically controlled lights, horn and starter motor


Year Examples of automotive electronic available
1965 Solid state radio. Alternator rectifier
1970 Speed control
1975 Electronic ignition. Digital lock
1980 Electronic voltage regulator, Electronic engine controller, Electronic instrument
cluster . Electronic fuel injection
1985 Clock integrated with ratio. Audio graphic equalizer, electronic air suspension
1990 ABSIntegrated engine and speed control, Active suspensions, Cellular phones
710150113 Vehicle Control Engineering -Lecture-1
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Tsinghua
Past and Current Application


CVT


ITS
Current Trend ACC, Vehicle Stability enhancement, CVT,
fuel efficiency management, integrated chassis control, power
management of hybrid vehicles, electrical power steering,
collision warning and prevention, automatic lane following,
rollover and lane departure warning, etc.

ITSincluding multi-vehicle control functions

710150113 Vehicle Control Engineering -Lecture-1


/Future Application
ARI
Tsinghua

2005700 20101300
CD
29333340
Annual market situation of navigation system is about 7 millions in 2005
and reach 13 millions by 2010.
Significant increase in anti-theft systems, electronic keyless entry, onboard
diagnosis and CD players
Combined electrical and electronic devices grow from 29~33% of total
vehicle cost to 33~40% in five years.

710150113 Vehicle Control Engineering -Lecture-1


/Future Application
ARI
Tsinghua

New means of communication for connected vehicle


4G Cellular Access Technology
High bandwidth, high capacity, wide area coverage
Long latency

Hotspot technology
For highway, laid along a low-cost small base stations for intermittent
hotspot access, the transportation applications or Internet access services, to
achieve intelligent information highway .
Short range, long latency

Dedicated Short Range Communications


Application For V2V, V2I
Real-time short-range safety broadcast to vehicle
Short range , small capacity

710150113 Vehicle Control Engineering -Lecture-1


/Future Application
ARI
Tsinghua

Protocol Stack Channel Allocation

RSU OBU

OBU

710150113 Vehicle Control Engineering -Lecture-1


/Future Application
ARI
Tsinghua

Intelligent Vehicle of Ford

Advanced WIFI DSRC Traffic signal Video monitoring GPS and digital map
assistant
OnStar Telematics of GM

710150113 Vehicle Control Engineering -Lecture-1


ARI
Chapter 1, Introduction to Vehicle Control Technology Tsinghua


Outline
( 21 )
Background (Challenge of Vehicle in the 21th
century)


Application of Electronic Control Tech. on Vehicle


State of the Art: Vehicle Electronic Control Tech.
710150113 Vehicle Control Engineering -Lecture-1
ARI
Tsinghua
State of the Art: Vehicle Control Tech.


Utilization of Intelligent Control

Adaptive Control

Fuzzy Control

Neural Network Control

Driver Behavior Based Control

710150113 Vehicle Control Engineering -Lecture-1


.() ARI
Tsinghua
State of the Art: Vehicle Control Tech. (cont.)


Tech. of Control System
Sensor
Actuator
Semiconductor
Multi-Communication Bus
FDI
FDI ( Fault Detection and Isolation )
Diagnosis Support System
ECU
ECU Software Tool (e.g. Matlab / Simulink )
710150113 Vehicle Control Engineering -Lecture-1
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/Sensors Tsinghua

/ Classification
Speed
Acceleration
Pressure
Flow
Temperature
Distance
Image

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Tsinghua
Progress on Integration of Sensor
Sensor Signal Adjuster A/D Converter Microprocessor

AD


Signal Adjuster A/D Converter Microprocessor

AD


Signal Adjuster A/D Converter Microprocessor

AD


Signal Adjuster A/D Converter Microprocessor

AD Intelligent Snsor


The perfect phase is to integrate all components as a set.
710150113 Vehicle Control Engineering -Lecture-1
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/Actuators Tsinghua

/ Classification

Electro Magnet
Electric Solenoid Valve
DC Motor
Step Motor
Piezoelectric Element

710150113 Vehicle Control Engineering -Lecture-1


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/Trend of Actuator Tech. Tsinghua

-
Miniaturization, High Power Output
-
Layered Control System
- /
Actuator/Sensor Integration ( like human being)
-
Intelligent Structure ( advanced control systems)

710150113 Vehicle Control Engineering -Lecture-1


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FDI & Diagnosis Support System


Active FDI ( Fault Detection and Isolation )

/
On/off-Board Diagnosis


Diagnosis Support System

710150113 Vehicle Control Engineering -Lecture-1


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Tsinghua
Diagnosis Support System


Service center

Service support system


Diagnosis tool

/Dealer


Structure of Diagnosis Support System
710150113 Vehicle Control Engineering -Lecture-1
.() ARI
Tsinghua
State of the Art: Vehicle Control Tech. (cont.)


Renovation on Development of Control System

/
Integrated / Hierarchical Control System Structure
CAN
CAN Bus ( Controller Area Network )

Advanced Development Tool for ECU

Modern Development Pattern

710150113 Vehicle Control Engineering -Lecture-1


/ ARI
Tsinghua
Integrated / Hierarchical Control System

Same as the developing trend of control system in other fields


Integrated information process
(save the hardware and improve the reality and reliability of information)
(
Distributed control process ( risk / function distribution)

-------
Hierarchical Control for complex system

710150113 Vehicle Control Engineering -Lecture-1


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Tsinghua
Example of A Vehicle Control System

Driver Behavior Information Vehicle Information


Road Information Environment Information


ECU
CAN

Intelligent Intelligent Intelligent Intelligent Intelligent Intelligent Multimed. Monitor


Actuator Actuator Actuator Actuator Actuator Actuator ECU

Engine Trans. Brake Suspen. 4WS Body Disp. Drive



Recorder

low cost , high efficiency and reliability

710150113 Vehicle Control Engineering -Lecture-1


HEV ARI
Tsinghua
HEV Control System
A/Motor A
Clutch /Tire
Engine
CVT


Battery
B/Motor B

/Inverter /Inverter

Motor B Engine Clutch Motor A CVT Battery


ECU ECU ECU ECU ECU ECU

ECU/ System coordinate ECU

HEV/HEV Powertrain System


710150113 Vehicle Control Engineering -Lecture-1
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Tsinghua
Requirement on Vehicle Control System


High Reliability and Durability same as airplane


Low Price same as family electric product

--
High level technology of ECU is needed

710150113 Vehicle Control Engineering -Lecture-1


ECU ARI
Tsinghua
Advanced Development Tool for ECU
MATLAB/Simulink INTEGRTED VEHICLE
CONTROLLER

DRIVER
COMMAND

DYNAMIC
MODELS

DISTRIBUTED
CONTROLLERS

dSPACE Systems

710150113 Vehicle Control Engineering -Lecture-1


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Tsinghua
Traditional Development Method

Theory analysis

Manual programming Debugging & Evaluation

ROM writing

ECU hardware making

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Tsinghua
Modern Development Pattern
ECU Development with V Cycle
,
Control Design Calibration
Modeling Simulation

/ RCP / HILS
Rapid Control Hardware-in-the-
Loop Simulation
Prototyping


Automatic Production
Code Generation
710150113 Vehicle Control Engineering -Lecture-1
ARI
/ Summary Tsinghua

Preface about this course

Chapter 1 Introduction and Perspectives


of Vehicle Control Technology

Background (Challenge of Vehicle in the 21th


century)

Application of Electronic Control Tech. on Vehicle

State of the Art: Vehicle Electronic Control Tech.

710150113 Vehicle Control Engineering -Lecture-1


ARI
Tsinghua

The End

710150113 Vehicle Control Engineering -Lecture-1

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