Technology And Architecture Of Future Chassis

Transcript

BMW Group Ayoubi / Leffler SAE 2004 Folie 1 Technology and Architecture of Future Chassis Control Systems Dr. Leffler Dr. Ayoubi BMW Group BMW Group Ayoubi / Leffler SAE 2004 Folie 2 Synopsis 1. Main Topics 2. ICM/ECM 3. Functional Architecture 4. Vehicle Dynamic Domains 5. Actuator Technology 6. Conclusion BMW Group Ayoubi / Leffler SAE 2004 Folie 3 Main Topics • What would be the most likely functional architecture for chassis control systems from the practical point of view? • What would be the appropriate actuator technology for chassis control systems from the practical point of view? •The hardware structure yielded is not in focus of this presentation. BMW Group Ayoubi / Leffler SAE 2004 Folie 4 Synopsis 1. Main Topics 2. ICM/ECM 3. Functional Architecture 4. Vehicle Dynamic Domains 5. Actuator Technology 6. Conclusion Technologies and Architectures of Chassis Control Systems BMW Group Ayoubi / Leffler SAE 2004 Folie 5 Architecture Complexity Integrated Chassis Management Active Chassis Electronic Chassis Management Co Existence Semi Active Chassis Passive Chassis Technology Mechanical Hydro Mechanical Electro Mechanical BMW Group Ayoubi / Leffler SAE 2004 Folie 6 ECM Electronic Chassis Management Yaw Rate ASC Lateral Acceleration ABS Wheel Velocities Steer Angle ... Brakes ARS Steering DSC Internal System Sensors Engine Signal Processing Ride Accelerations Radar Displacements Roll Bars BVA ACC Ride Comfort EHC ZHL Steering Torque EMF Slope EDC Driver Commands: ƒ Accelerate ƒ Steer ƒ Brake Vehicle Dynamics BMW Group Ayoubi / Leffler SAE 2004 Folie 7 ICM Integrated Chassis Management Feedback on Driving Dynamics Intelligent Mechatronic Actuators ICM Driver Human Integrated Integrated Chassis Chassis Interface ƒ Brake Management Management ƒ Steering ƒ Engine ƒ Suspension Sensors Electrical Mechanical Information Path Information Path Sensors Vehicle BMW Group Ayoubi / Leffler SAE 2004 Folie 8 Management of Chassis Control Systems Between ECM and ICM What would be the most likely functional architecture for chassis control systems from the practical point of view? BMW Group Ayoubi / Leffler SAE 2004 Folie 9 Management of Chassis Control Systems Between ECM and ICM Ride Control Systems Assistance Control Systems Chassis Management Supervision Control Systems Steering Control Systems Brake Control Systems BMW Group Ayoubi / Leffler SAE 2004 Folie 10 Synopsis 1. Main Topics 2. ICM/ECM 3. Functional Architecture 4. Vehicle Dynamic Domains 5. Actuator Technology 6. Conclusion BMW Group Ayoubi / Leffler SAE 2004 Folie 11 Classification of Assistance Control Systems Steering Assistance ACC Active Cruise Control DCC Dynamic Cruise Control PMA Park Assist LDW Lane Assist Comfort 3 3 3 3 Safety / Stability 2 2 2 2 Dynamics / Agility 1 1 1 1 Systems Brake Supervision Ride BMW Group Ayoubi / Leffler SAE 2004 Folie 12 Classification of Steering Control Systems Assistance Brake Steering HPS Hydraulic Power Steering EPS Electric Power Steering AFS Active Front Steering HSR Active Rear Steering Comfort 3 3 3 1 Safety / Stability 1 2 2 2 Dynamics / Agility 2 2 3 3 Systems Supervision Ride ADB Autom. Differential Brake HDC Hill Descent Control ASL Trailer Stabilization Logic EMF Parking Brake 2 2 2 2 3 2 3 1 2 3 2 ABS Anti Lock System DBC Dynamic Brake Control CBC Cornering Brake Control EBV Electr. Brake Distribution MSR Engine Drag Control DTC Dynamic Traction Control ASC Autom Stability Control GMR Yaw Torque Control 3 3 3 3 3 1 2 Safety / Stability 3 3 3 Dynamics / Agility 2 2 2 Ride Supervision Brake Steering Assistance 1 2 Comfort Systems Classification of Brake Control Systems BMW Group Ayoubi / Leffler SAE 2004 Folie 13 BMW Group Ayoubi / Leffler SAE 2004 Folie 14 Classification of Supervision Control Systems Assistance Steering Brake Supervision CBS Condition Based Service TPC Tire Pressure Control Comfort 3 3 Safety / Stability 1 3 Systems Dynamics / Agility Ride BMW Group Ayoubi / Leffler SAE 2004 Folie 15 Classification of Ride Control Systems Assistance Brake Supervision Ride EDC Active Air Suspension Electronic Damper Control 3 3 ARS Dynamic Drive LF Systems Steering Comfort 2 Safety / Stability 2 2 2 Dynamics / Agility 1 2 3 Classification of Chassis Control Systems BMW Group Ayoubi / Leffler SAE 2004 Folie 16 TPC ARS LF EDC Tire Pressure Control Dynamic Drive Active Air Suspension Electronic Damper Control CBS Autom. Differential Brake Condition Based Service ADB Hill Descent Control 1 HDC 1 Trailer Stabilization Logic 3 ASL 2 Yaw Torque Control 2 GMR 2 Dynamic Traction Control 3 DTC 1 Engine Drag Control 3 MSR 3 Parking Brake 2 EMF 3 Autom Stability Control 3 2 3 3 2 2 2 2 3 2 3 1 2 3 2 3 3 LDW HPS EPS AFS HSR ABS DBC CBC EBV ASC Park Assist Lane Assist Hydraulic Power Steering Electric Power Steering Active Front Steering Active Rear Steering Anti Lock System Dynamic Brake Control Cornering Brake Control Electr. Brake Distribution 2 2 2 2 2 2 3 3 3 2 2 3 3 2 2 PMA 1 Dynamic Cruise Control 1 DCC 3 Active Cruise Control 3 ACC 3 3 3 1 3 Systems Comfort 3 3 Safety / Stability 2 2 Dynamics / Agility 1 1 Ride Supervision Brake Steering Assistance BMW Group Ayoubi / Leffler SAE 2004 Folie 17 Synopsis 1. Main Topics 2. ICM/ECM 3. Functional Architecture 4. Vehicle Dynamic Domains 5. Actuator Technology 6. Conclusion DCC PMA LDW HPS EPS AFS HSR ABS DBC CBC EBV ASC EMF MSR DTC GMR ASL HDC ADB CBS TPC ARS LF EDC Active Cruise Control Dynamic Cruise Control Park Assist Lane Assist Hydraulic Power Steering Electric Power Steering Active Front Steering Active Rear Steering Anti Lock System Dynamic Brake Control Cornering Brake Control Electr. Brake Distribution Autom Stability Control Parking Brake Engine Drag Control Dynamic Traction Control Yaw Torque Control Trailer Stabilization Logic Hill Descent Control Autom. Differential Brake Condition Based Service Tire Pressure Control Dynamic Drive Active Air Springs Electronic Damper Control Lateral Domain Dynamics / Agility Domain Safety / Stability Ride Supervision Brake Steering Assistance Ride Longitudinal Domain Comfort ACC Systems Vehicle Dynamic Domains of Chassis Control Systems BMW Group Ayoubi / Leffler SAE 2004 Folie 18 BMW Group Ayoubi / Leffler SAE 2004 Folie 19 The Idea Behind a Dynamic Domain Longitudinal Domain Is a local domain coordinator with longitudinal degree of freedom to primarily manage the assistance control systems with focus on driving comfort Lateral Domain Is a local domain coordinator with lateral degree of freedom to primarily manage the steering and braking control systems with focus on driving agility and stability Ride Domain Is a local domain coordinator with vertical degree of freedom to primarily manage the ride control systems with focus on driving comfort and agility Each coordinator strategy within a domain should deal with the Dilemma of the assignment from a single input to multiple actor outputs BMW Group Ayoubi / Leffler SAE 2004 Folie 20 Domains Coordinator in the Chassis Management Architecture Environment Driver Commands Sensed Dynamics Dynamics Coordinator Prediction Observer Lateral Domain Longitudinal Domain Actuator State Observer ECU Ride Domain ECU ....... Sensors Sensors Actuator BMW Group Ayoubi / Leffler SAE 2004 Folie 21 Dynamics Coordinator State Observer Prediction Observer The Idea Behind a Dynamics Coordinator and the Dynamics Observers Is a global coordinator to determine the prime and secondary degrees of freedom (= domains) based on a consistent vehicle state observation and driver commands Is a closed-loop physical dynamics model with feedback from vehicle and environments measures to precisely estimate the vehicle dynamic states Is an open-loop physical dynamics model to predict the vehicle dynamics states based on the control commands of the domains and to allow the dynamics coordinator to prepare the future decisions BMW Group Ayoubi / Leffler SAE 2004 Folie 22 Benefits of the Domains Management Architecture 1. Higher flexibility with respect to customized chassis control systems 2. Less effort compared to a central dynamics controller 3. Optimal functionality BMW Group Ayoubi / Leffler SAE 2004 Folie 23 Synopsis 1. Main Topics 2. ICM/ECM 3. Functional Architecture 4. Vehicle Dynamic Domains 5. Actuator Technology 6. Conclusion BMW Group Ayoubi / Leffler SAE 2004 Folie 24 Actuator Technology of Future Chassis Control Systems What would be the appropriate actuator technology for chassis control systems from the practical point of view? Î Hydro-Mechanical or Electro-Mechanical BMW Group Ayoubi / Leffler SAE 2004 Folie 25 Overview of Control Functions and Actuator Technologies Function Technology Mechanics / Pneumatics / Hydraulics Electro Hydraulics Electro Mechanics Steering Brake Suspension Damping Hydraulic Power Steering Conventional Hydraulic Brake with Pneumatic Support Electro Hydraulic Power Steering Electro Hydraulic Brake HydroMechanical Dynamic Drive Continuous Damping Control Electric Power Steering Electro Mechanical Brake ElectroMechanical Dynamic Drive Rheologic Fluid Conventional Coil / Air Spring Shock Absorber with Or Gas Spring / Anti-Roll Bar Damper BMW Group Ayoubi / Leffler SAE 2004 Folie 26 Evaluation Criteria of The Actuators Technology Power Supply Costs & Weight Power Consumption Environment Production Power Density Ideal Actuator Technology Failure Modes Comfort & Acoustics Vehicle Integration Function - SW Modular Design Function - SW Integration BMW Group Ayoubi / Leffler SAE 2004 Folie 27 Evaluation Matrix of Actuators Technology BMW Group Ayoubi / Leffler SAE 2004 Folie 28 The Actuators Technology Electro-Hydraulic or Electro-Mechanical Ideal Actuator Technology 1. It depends on the Application, or 2. Combine both for optimal Results BMW Group Ayoubi / Leffler SAE 2004 Folie 29 From Electric Auto Hold To Electro-Mechanical Brake Front Axle Hydraulic Control Unit Electronic Control Unit Hydraulic Path Electric Path Rear Axle EMB EMF EPB BMW Group Ayoubi / Leffler SAE 2004 Folie 30 Active Front Steering: Electro-Hydraulic and Electro-Mechanical Sensor Block ECU E-Drive PlanetaryGear BMW Group Ayoubi / Leffler SAE 2004 Folie 31 Synopsis 1. Main Topics 2. ICM/ECM 3. Functional Architecture 4. Vehicle Dynamic Domains 5. Actuator Technology 6. Conclusion BMW Group Ayoubi / Leffler SAE 2004 Folie 32 Conclusions 1. The most promising management architecture for chassis control systems leads to domain coordinators 2. Today, there is no winner for the question of the ideal actuator technology Thank you for your attention BMW Group Ayoubi / Leffler SAE 2004 Folie 33 Hydro Mechanical Steering Hydraulic Power Pack Flexible Pipes Mechanical Steering Gear Back BMW Group Ayoubi / Leffler SAE 2004 Folie 34 Electro Mechanical Steering Electronic Control Unit Electric Drive Mechanical Worm Gear Steering Wheel Angle Back BMW Group Ayoubi / Leffler SAE 2004 Folie 35 Electro and Hydro Mechanical Brake Control Systems Back BMW Group Ayoubi / Leffler SAE 2004 Folie 36 Hydro Mechanical Dynamic Drive Back