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汽车安全与节能学报

汽车安全与节能学报 ›› 2020, Vol. 11 ›› Issue (2): 143-160.DOI: 10.3969/j.issn.1674-8484.2020.02.001

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汽车底盘线控与动力学域控制技术

李亮，王翔宇，程硕，陈翔，黄超，平先尧，魏凌涛    

  1. （清华大学汽车安全与节能国家重点实验室，清华大学，北京 100084，中国）
  • 收稿日期:2020-06-12 出版日期:2020-06-30 发布日期:2020-06-30
  • 作者简介:第一作者 / First author ： 李亮 (1977—)，男 ( 汉 )，湖北，教授。E-mail: liangl@tsinghua.edu.cn。
  • 基金资助:
    安徽省新能源汽车暨智能网联汽车产业技术创新工程项目（JAC2019022505）。

Technologies of control-by-wire and dynamic domain control for automotive chassis

LI Liang, WANG Xiangyu, CHENG Shuo, CHEN Xiang, HUANG Chao, PING Xianyao, WEI Lingtao   

  1. (State Key Laboratory of Automotive Safety and Energy, Tsinghua University, Beijing 100084, China)
  • Received:2020-06-12 Online:2020-06-30 Published:2020-06-30

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摘要： 汽车动力学及其线控技术是汽车底盘设计中的难题，一直是学界研究的热点。汽车的智能化 发展也对底盘线控执行技术提出了更高、更迫切的性能要求。该文介绍了汽车动力学与底盘线控技术 的最新进展：针对汽车动力学及控制技术，介绍了动力学建模分析、动力学状态观测以及动力学稳定 性控制策略的发展历程及研究现状；针对底盘线控执行技术，概述了面向智能驾驶的线控制动、线控 转向、线控驱动发展历程及研究现状；针对汽车底盘集成控制技术，提出了底盘动力学域控制的概念， 系统性地说明了域控制架构和协调控制策略。最后展望了汽车底盘线控与动力学域控制技的术未来研 究趋势。

关键词: 汽车动力学, 智能汽车, 底盘线控, 动力学域控制, 集成协调控制

Abstract:  Vehicle dynamics and its control-by-wire technologies are difficult problems in the design of vehicle chassis, which has been an academic research hotspot. The development of intelligent vehicle also puts forward better performance and more urgent requirements for the control-by-wire execution technologies of chassis. This paper introduces the latest development of vehicle dynamics and chassis control-by-wire technologies: In aspect of vehicle dynamics and control technology, introduces the development and research status of vehicle dynamics modeling analysis, dynamics state observation and dynamics stability control strategy; In aspect of the control-by-wire execution technologies of chassis, summarizes the development and research status of braking-by-wire, steering-by-wire and driving-by-wire for autonomous driving. In aspect of the integrated control technologies of vehicle chassis, a concept of chassis dynamics domain control is proposed, and a domain control architecture and coordinated control strategies are introduced systematically. At last, the future research trends of the chassis control-by-wire technologies and dynamic domain technologies are prospected.

Key words: vehicle dynamics, intelligent vehicle, control-by-wire of chassis, dynamics domain control; integrated and coordinated control

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