應用四輪獨立煞車力控制之電動貨卡車身動態整合控制策略

Abstract

先進駕駛輔助系統(ADAS)是現今在汽車產業中非常熱門的技術，其技術多開發在商用小客車上，較少針對大型車輛(貨車、卡車)來進行設計開發。但大型車輛之駕駛者多為職業駕駛，需要長時間集中精神去駕駛車輛，在新聞中也常見疲勞駕駛導致大型車輛在閃避障礙物時使車輛翻覆。因此，本研究旨在開發一套應用於電動貨卡之車身穩定系統，其系統可因應不同道路摩擦係數、質量以及質心變化，降低車輛在突然轉向時發生翻覆的可能性。其系統作動方法為介入輪胎煞車來補償轉向不足和轉向過度的情況，並避免輪胎鎖死及空轉，讓電動貨卡的操控性能進一步提升。本研究藉由階層分工的方式整合AYC、ABS、TCS三種控制器來達到車身穩定控制系統，並根據輪速訊號及加速度訊號實時估測出控制器所需的參數，使控制器不會因為參數失真而導致車輛失控，最後將控制命令轉換成硬體命令輸入給動力系統以及煞車系統來達到控制效果。階層式動態整合策略係以MATLAB/Simulink結合dSPACE建立一套電動貨卡的車輛模型進行模型在環(MiL)驗證，確認控制方法的可行性及控制器的成果。

Advanced Driver Assistance System (ADAS) is a very popular technology in the automotive industry and it is mostly developed on commercial passenger cars, but less designed for large vehicles, such as trucks and lorries. However, the drivers of large vehicles are usually professional drivers who need to concentrate on driving for a long time, and thus, it is often seen in the news that fatigue driving causes roll over when avoiding obstacles. The purpose of this research is to develop an electronic stability control system for electric trucks. To reduce the possibility of the vehicle rollover during sudden turns, the system can respond to different road friction coefficient, mass and center of mass. It intervenes in the braking of tire to compensate for understeering and oversteering, and to avoid idling or locking of the wheels, further improving the handling performance of electric truck. In this study, by using hierarchical approach to integrate AYC, ABS, and TCS controllers to achieve electronic stability control system. The required parameters of the controllers are estimated in real time based on the wheel speed and acceleration signals, so that the controllers will not lose control of the vehicle due to parameter distortion. Finally, the control commands are converted into hardware commands and sent them to the power system and brake system to achieve the control effect. MATLAB/Simulink combined with dSPACE is used to build a vehicle model of an electric truck for model-in-the-loop (MiL) validation to confirm the feasibility of the control method and verify the results of the controllers.