Systems and methods for integrated chassis control in ground vehicles
A vehicle chassis control system may include a target calculation module, brake control module, suspension control module, and tire pressure control module. The target calculation module calculates a target brake torque, a target vertical force, and a target tire pressure associated with the wheel of a vehicle. The brake control module adjusts brake torque applied to the wheel based on a comparison of the target brake torque and an estimated current brake torque. The suspension control module adjusts vertical force applied to the wheel based on a comparison of the target vertical force and an estimated current vertical force. The tire pressure control module adjusts tire pressure in the wheel based on a comparison of the target tire pressure and a measured tire pressure.
1. A vehicle chassis control system comprising:
a target calculation module that calculates a target brake torque, a target vertical force, and a target tire pressure associated with a wheel of a vehicle based on longitudinal, lateral, yaw, roll, pitch and heave dynamic components of the vehicle;
a brake control module that adjusts brake torque applied by a friction brake to the wheel based on a comparison of the target brake torque and an estimated current brake torque associated with the wheel;
a suspension control module that adjusts vertical force applied by a suspension element to the wheel based on a comparison of the target vertical force and an estimated current vertical force associated with the wheel;
a tire pressure control module that adjusts tire pressure in the wheel via one or more valves connected to the wheel based on a comparison of the target tire pressure and a measured tire pressure associated with the wheel; and
a dynamic component module that calculates the longitudinal, lateral, yaw, roll, pitch and heave dynamic components of the vehicle based on:
a difference between an estimated current wheel slip associated with the wheel and a reference wheel slip associated with the wheel;
a difference between an estimated current vertical force associated with the wheel and a reference vertical force associated with the wheel;
a difference between an estimated current side slip angle associated with a body of the vehicle and a reference side slip angle associated with the body of the vehicle;
a difference between a measured yaw rate associated with the body of the vehicle and a reference yaw rate associated with the body of the vehicle; and
a difference between a measured vertical acceleration associated with the body of the vehicle and a reference vertical acceleration associated with the body of the vehicle.
2. The system of claim 1 , further comprising:
a reference vehicle module that calculates the reference wheel slip, reference vertical force, reference side slip angle, reference yaw rate, and reference vertical acceleration based on:
an accelerator pedal displacement from a baseline acceleration pedal position;
a brake pedal displacement from a baseline brake pedal position; and
a steering wheel angle.
3. The system of claim 1 , further comprising:
a vehicle state estimation module that calculates the estimated current wheel slip and the estimated current side slip angle based on:
the measured yaw rate;
a measured longitudinal acceleration associated with the body of the vehicle;
a measured lateral acceleration associated with the body of the vehicle;
the measured vertical acceleration;
a measured wheel speed associated with the wheel; and
a measured vertical wheel displacement from a baseline wheel displacement.
4. The system of claim 3 , further comprising:
a plurality of sensors that determine:
the measured yaw rate;
the measured longitudinal acceleration;
the measured lateral acceleration;
the measured vertical acceleration;
the measured wheel speed; and
the measured vertical wheel displacement.
5. The system of claim 4 , wherein the plurality of sensors also determine:
an accelerator pedal displacement from a baseline acceleration pedal position;
a brake pedal displacement from a baseline brake pedal position;
a steering wheel angle;
the measured tire pressure associated with the wheel; and
a tire temperature associated with the wheel.
6. The system of claim 1 , further comprising:
the suspension element, wherein the suspension element is connected to the wheel and applies vertical force to the wheel.
7. The system of claim 1 , further comprising:
the one or more valves, wherein the one or more valves are connected to the wheel and adjust tire pressure in the wheel.
8. The system of claim 7 , wherein the one or more valves comprise an inlet valve and an outlet valve.
9. A vehicle chassis control system comprising:
a target calculation module that calculates a target brake torque, a target vertical force, and a target tire pressure associated with a wheel of a vehicle based on longitudinal, lateral, yaw, roll, pitch and heave dynamic components of the vehicle;
a brake control module that adjusts brake torque applied by a friction brake to the wheel based on a comparison of the target brake torque and an estimated current brake torque associated with the wheel;
a suspension control module that adjusts vertical force applied by a suspension element to the wheel based on a comparison of the target vertical force and an estimated current vertical force associated with the wheel; and
a tire pressure control module that adjusts tire pressure in the wheel via one or more valves connected to the wheel based on a comparison of the target tire pressure and a measured tire pressure associated with the wheel, the vehicle chassis control system further comprising:
the friction brake, wherein the friction brake is connected to the brake control module and applies brake torque to the wheel.
10. A vehicle chassis control system comprising:
a target calculation module that calculates a target brake torque, a target vertical force, and a target tire pressure associated with a wheel of a vehicle based on longitudinal, lateral, yaw, roll, pitch and heave dynamic components of the vehicle;
a brake control module that adjusts brake torque applied by a friction brake to the wheel based on a comparison of the target brake torque and an estimated current brake torque associated with the wheel;
a suspension control module that adjusts vertical force applied by a suspension element to the wheel based on a comparison of the target vertical force and an estimated current vertical force associated with the wheel; and
a tire pressure control module that adjusts tire pressure in the wheel via one or more valves connected to the wheel based on a comparison of the target tire pressure and a measured tire pressure associated with the wheel, wherein the target calculation module calculates the target brake torque based on respective upper and lower actuator constraints associated with the friction brake.
11. A vehicle chassis control system comprising:
a target calculation module that calculates a target brake torque, a target vertical force, and a target tire pressure associated with a wheel of a vehicle based on longitudinal, lateral, yaw, roll, pitch and heave dynamic components of the vehicle;
a brake control module that adjusts brake torque applied by a friction brake to the wheel based on a comparison of the target brake torque and an estimated current brake torque associated with the wheel;
a suspension control module that adjusts vertical force applied by a suspension element to the wheel based on a comparison of the target vertical force and an estimated current vertical force associated with the wheel; and
a tire pressure control module that adjusts tire pressure in the wheel via one or more valves connected to the wheel based on a comparison of the target tire pressure and a measured tire pressure associated with the wheel, wherein the target calculation module calculates the target vertical force based on respective upper and lower actuator constraints associated with the suspension element.
12. A vehicle chassis control system comprising:
a target calculation module that calculates a target brake torque, a target vertical force, and a target tire pressure associated with a wheel of a vehicle based on longitudinal, lateral, yaw, roll, pitch and heave dynamic components of the vehicle;
a brake control module that adjusts brake torque applied by a friction brake to the wheel based on a comparison of the target brake torque and an estimated current brake torque associated with the wheel;
a suspension control module that adjusts vertical force applied by a suspension element to the wheel based on a comparison of the target vertical force and an estimated current vertical force associated with the wheel; and
a tire pressure control module that adjusts tire pressure in the wheel via one or more valves connected to the wheel based on a comparison of the target tire pressure and a measured tire pressure associated with the wheel, wherein the target calculation module calculates the target tire pressure based on respective upper and lower actuator constraints associated with the one or more valves.
13. A method for controlling a vehicle chassis system comprising:
calculating a target brake torque, a target vertical force, and a target tire pressure associated with a wheel of a vehicle based on longitudinal, lateral, yaw, roll, pitch and heave dynamic components of the vehicle;
adjusting brake torque applied by a friction brake to the wheel based on a comparison of the target brake torque and an estimated current brake torque associated with the wheel;
adjusting vertical force applied by a suspension element to the wheel based on a comparison of the target vertical force and an estimated current vertical force associated with the wheel;
adjusting tire pressure in the wheel via one or more valves connected to the wheel based on a comparison of the target tire pressure and a measured tire pressure associated with the wheel;
calculating a difference between an estimated current wheel slip associated with the wheel and a reference wheel slip associated with the wheel to provide a first calculated difference;
calculating a difference between an estimated current vertical force associated with the wheel and a reference vertical force associated with the wheel to provide a second calculated difference;
calculating a difference between an estimated current side slip angle associated with a body of the vehicle and a reference side slip angle associated with the body of the vehicle to provide a third calculated difference;
calculating a difference between a measured yaw rate associated with the body of the vehicle and a reference yaw rate associated with the body of the vehicle to provide a fourth calculated difference; and
calculating a difference between a measured vertical acceleration associated with the body of the vehicle and a reference vertical acceleration associated with the body of the vehicle to provide a fifth calculated difference.
14. The method of claim 13 , further comprising:
calculating the longitudinal, lateral, yaw, roll, pitch and heave dynamic components of the vehicle based on the first, second, third, fourth, and fifth calculated differences.
15. The method of claim 13 , further comprising:
calculating the estimated current wheel slip and the estimated current side slip angle based on:
the measured yaw rate;
a measured longitudinal acceleration associated with the body of the vehicle;
a measured lateral acceleration associated with the body of the vehicle;
the measured vertical acceleration;
a measured wheel speed associated with the wheel; and
a measured vertical wheel displacement from a baseline wheel displacement.
16. A method for controlling a vehicle chassis system comprising:
calculating a target brake torque, a target vertical force, and a target tire pressure associated with a wheel of a vehicle based on longitudinal, lateral, yaw, roll, pitch and heave dynamic components of the vehicle;
adjusting brake torque applied by a friction brake to the wheel based on a comparison of the target brake torque and an estimated current brake torque associated with the wheel;
adjusting vertical force applied by a suspension element to the wheel based on a comparison of the target vertical force and an estimated current vertical force associated with the wheel;
adjusting tire pressure in the wheel via one or more valves connected to the wheel based on a comparison of the target tire pressure and a measured tire pressure associated with the wheel;
determining an accelerator pedal displacement from a baseline acceleration pedal position;
determining a brake pedal displacement from a baseline brake pedal position; and
determining a steering wheel angle.
17. The method of claim 16 , further comprising:
calculating the reference wheel slip, reference vertical force, reference side slip angle, reference yaw rate, and reference vertical acceleration based on the accelerator pedal displacement, brake pedal displacement, and steering wheel angle.
18. A method for controlling a vehicle chassis system comprising:
calculating a target brake torque, a target vertical force, and a target tire pressure associated with a wheel of a vehicle based on longitudinal, lateral, yaw, roll, pitch and heave dynamic components of the vehicle;
adjusting brake torque applied by a friction brake to the wheel based on a comparison of the target brake torque and an estimated current brake torque associated with the wheel;
adjusting vertical force applied by a suspension element to the wheel based on a comparison of the target vertical force and an estimated current vertical force associated with the wheel; and
adjusting tire pressure in the wheel via one or more valves connected to the wheel based on a comparison of the target tire pressure and a measured tire pressure associated with the wheel, wherein:
calculating the target brake torque comprises calculating the target brake torque based on respective upper and lower actuator constraints associated with the friction brake;
calculating the target vertical force comprises calculating the target vertical force based on respective upper and lower actuator constraints associated with the suspension element; and
calculating the target tire pressure comprises calculating the target tire pressure based on respective upper and lower actuator constraints associated with the one or more valves.