Académique Documents
Professionnel Documents
Culture Documents
Tsinghua
Vehicle Control Engineering
Shengbo Eben LI
Outline
/Preface
Chapter 1 Introduction and Perspectives of
Vehicle Control Technology
Motivation of Courses
Reference Books
Objective & Grading Policy
Vehicle is the platform integrating modern science and
technologies
/ VehicleCar
/ Mobile Robot
/ Mobile Information Platform
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
Vehicle Dynamics
Longitudinal, lateral and vertical dynamics
Control Theory
PID, optimal control, model predictive control, etc
Matlab/Simulink
Textbook : lecture notes and assigned papers
/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.
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
3. Middle-term report
- Task allocation, time schedule
- Up-to-date results of final project
- Questions in final project
Lecturer: Keqiang LI
Office: A644, Lee Shau Kee Sci. & Tech. Building
Email: likq@tsinghua.edu.cn
Office: 627-88774
Mobile: 13641095298
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.
/ 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?)
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
n = car number
f = fuel economy (mph)
oil
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%
Child protection
Autonomous Emergency Brake Seat belt reminder
Safety assist
2013
Euro
NCAP
launch
AEB
rating
1999CambridgeProvidence
1970
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
1.
/
Solutions:
-Mechanical : Carburetor
-Mechatronic: Controlled fuel injection
710150113 Vehicle Control Engineering -Lecture-1
ARI
/Carburetor Tsinghua
?
?
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.
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.
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
RSU OBU
OBU
Advanced WIFI DSRC Traffic signal Video monitoring GPS and digital map
assistant
OnStar Telematics of GM
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
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
ARI
/Sensors Tsinghua
/ Classification
Speed
Acceleration
Pressure
Flow
Temperature
Distance
Image
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
ARI
/Actuators Tsinghua
/ Classification
Electro Magnet
Electric Solenoid Valve
DC Motor
Step Motor
Piezoelectric Element
-
Miniaturization, High Power Output
-
Layered Control System
- /
Actuator/Sensor Integration ( like human being)
-
Intelligent Structure ( advanced control systems)
Active FDI ( Fault Detection and Isolation )
/
On/off-Board Diagnosis
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
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
Recorder
Battery
B/Motor B
/Inverter /Inverter
High Reliability and Durability same as airplane
Low Price same as family electric product
--
High level technology of ECU is needed
DRIVER
COMMAND
DYNAMIC
MODELS
DISTRIBUTED
CONTROLLERS
dSPACE Systems
Theory analysis
ROM writing
/ RCP / HILS
Rapid Control Hardware-in-the-
Loop Simulation
Prototyping
Automatic Production
Code Generation
710150113 Vehicle Control Engineering -Lecture-1
ARI
/ Summary Tsinghua
The End