Driving dynamics control system for vehicles
A driving dynamics control system for vehicles. The control system including at least one driving dynamics controller that is fed setpoint specifications and driving state variables as input data. The control system also includes a plurality of actuators that can be controlled and/or regulated to modify the dynamics of the vehicle, such as steering, adjustable independently of the driver, on a front and/or rear axle of the vehicle, a chassis adjustable independently of the driver, a brake adjustable independently of the driver, and a drive train adjustable independently of the driver. The driving dynamics controller determines a central control specification from the setpoint specifications and the driving state variables and sends it to a distribution algorithm that distributes the control specification into manipulated variables for driving the actuators.
1. A driving dynamics control system for vehicles, comprising:
at least one driving dynamics controller (A) supplied with setpoint specifications (w) and driving state variables (x) as input data, and
a plurality of actuators (1 to m) that can be controlled and/or regulated to modify the dynamics of the vehicle
wherein the driving dynamics controller (A) determines a central control specification (v) from the setpoint specifications (w) and the driving state variables (x) and processes the central control specification (v) with a distribution algorithm (C) that distributes the control specification (v) into manipulated variables (u) for driving the actuators (1 to m), and
wherein the distribution algorithm (C) receives the state of the actuators (1 to m) when generating the manipulated variables (u) to take account of the current control potential and the current actuating speed of the actuators (1 to m) and their possible contribution to the implementation of the control specification (v).
2. The driving dynamics control system of claim 1 , wherein the dynamics of the vehicle include steering, adjustable independently of the driver, on a front and/or rear axle of the vehicle, a chassis adjustable independently of the driver, a brake adjustable independently of the driver, a drive train adjustable independently of the driver or a combination thereof.
3. The driving dynamics control system of claim 1 , wherein the control specifications (v) of the driving dynamics controller (A) comprise physical variables of the longitudinal, lateral and vertical dynamics.
4. The driving dynamics control system of claim 1 , wherein the distribution algorithm (C) minimizes the deviation between the control specifications (v) of the vehicle dynamics controller (A) and the manipulated variables (u) in order to improve the driving behavior of a motor vehicle both in the normal driving range and in the limit range in terms of driving dynamics.
5. The driving dynamics control system of claim 4 , wherein the following system of equations is applied to minimize the deviation between the control specifications (v) and the manipulated variables (u):
min
u
_
J
=
γ
W
v
(
B
u
_
-
v
_
)
+
W
u
(
u
_
-
u
_
d
)
u
_
min
<=
u
_
<=
u
_
max
;
u
_
.
min
<=
u
_
.
<=
u
_
.
max
dim
(
B
)
=
(
m
×
n
)
;
dim
(
u
_
)
=
(
m
×
1
)
;
dim
(
v
_
)
=
(
n
×
1
)
.
6. The driving dynamics control system of claim 1 , wherein the control specification (v) is a vectorial function v =g(x,u) of the driving state variables (x) and the manipulated variables (u).
7. The driving dynamics control system of claim 1 , wherein the distribution algorithm (C) includes a matrix (B) which is used to multiply the manipulated variables (u) to obtain the control specification (v), the matrix (B) including for each operating point the current control potential actuators (1 to m) to ensure an optimum distribution of the control specification (v) into the manipulated variables (u) of the actuators (1 to m).
8. The driving dynamics control system of claim 7 , wherein the matrix (B) is a Jacobi matrix whose entries are formed from partial derivatives of the vectorial function g, the matrix (B) being determined with the aid of the following relationship:
B
=
(
∂
g
i
∂
u
j
)
i
=
1
,
…
,
n
;
j
=
1
,
…
,
m
.
9. The driving dynamics control system of claim 1 , wherein the distribution algorithm (C) for a control specification (v) comprising the physical variable of the yaw moment (MzG) calculates and distributes an additional steering angle for front wheel steering (Δδv), an additional steering angle for rear wheel steering (Δδh), and a distribution parameter (λ) for dividing the roll support forces between two stabilizers of the chassis operable independently of the driver.
10. The driving dynamics control system of claim 9 , wherein the calculation is performed with the aid of a vectorial function v=MzG=g(Δδv, Δδh, λ).
11. The driving dynamics control system of claim 1 , wherein the distribution algorithm (C) for a control specification (v) comprising the physical variable of the global longitudinal force (FxG), the global lateral force (FyG) and the global yaw moment (MzG) calculates and distributes a steering angle for front wheel steering (Δδv), a steering angle for rear wheel steering (Δδh) and individual wheel brake or wheel drive torques (Mwheel,vl, Mwheel,vr, Mwheel,hl, Mwheel,hr) as well as a distribution parameter (λ) for dividing the roll support forces between the two stabilizers of the chassis operable independently of the driver.