Lv, Haoran (Tongji university), Zhang, Junwei (Beijing Institute of Space Launch Technology), Lu, Xiong (Tongji Unviersity), Tang, Chen (Tongji University)

Towards Lifetime Performance Management: A Case Study of Vehicular Stability Control Considering Suspension Degradation

Scheduled for presentation during the Regular Session "Vehicle control" (FrBT4), Friday, September 27, 2024, 13:50−14:10, Salon 7

2024 IEEE 27th International Conference on Intelligent Transportation Systems (ITSC), September 24- 27, 2024, Edmonton, Canada

This information is tentative and subject to change. Compiled on October 8, 2024

Abstract

For autonomous vehicles, continuous status monitoring and performance management of the chassis system throughout lifetime are crucial due to unmanned operation. Current vehicular stability control programs are usually designed and calibrated based on factory conditions, which could lead to degraded or even unsafe control performances with chassis deterioration after long-term service. This paper adopts the suspension system as a case study to explore system modeling, stability analysis, and control synthesis tailored for degradation characteristics of chassis components. Firstly, based on the requirements of vehicle stability control, a vehicular dynamics model that includes suspension K&C characteristics is derived. Phase plane approach is utilized to evaluate the impact of K&C characteristic variation on vehicle stability, which leads to accurate assessment of stability envelope after degradation. Subsequently, a torque vectoring control strategy is devised which integrates parameter estimation for K&C characteristics. Model Predictive Control (MPC) and Quadratic Programming (QP) schemes are then combined hierarchically to formulate stability control strategy considering variations of suspension characteristics throughout entire lifecycle. Finally, effectiveness of the proposed control algorithm is validated via simulation studies, which emphasizes the necessity to consider suspension degradation throughout lifetime in control synthesis.