Rolf Isermann - Automotive Control: Modeling and Control of Vehicles

In der Reihe ATZ/MTZ-Fachbuch vermitteln Fachleute, Forscher und Entwickler aus Hochschule und Industrie Grundlagen, Theorien und Anwendungen der Fahrzeug- und Verkehrstechnik. Die komplexe Technik, die moderner Mobilitt zugrunde liegt, bedarf eines immer grer werdenden Fundus an Informationen, um die Funktion und Arbeitsweise von Komponenten sowie Systemen zu verstehen. Fahrzeuge aller Verkehrstrger sind ebenso Teil der Reihe, wie Fragen zu Energieversorgung und Infrastruktur.

Das ATZ/MTZ-Fachbuch wendet sich an Ingenieure aller Mobilittsfelder, an Studierende, Dozenten und Professoren. Die Reihe wendet sich auch an Praktiker aus der Fahrzeug- und Zulieferindustrie, an Gutachter und Sachverstndige, aber auch an interessierte Laien, die anhand fundierter Informationen einen tiefen Einblick in die Fachgebiete der Mobilitt bekommen wollen.

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The development of automobiles shows a continuous improvement of the chassis, body, powertrain, exterior design, and many others. However, the technical progress during the last decades is especially characterized by the electrification and electronification. The introduction of many sensors for physical quantities in the vehicle and for the detection of the surroundings in combination with electrical actuated brakes, steering systems, powertrains, and electronic control units enabled the realization of driver-assistance systems and increasingly automatic driving functions for the improvement of safety and driving comfort.

The design of the stationary and dynamic behavior of vehicles is in addition to classical engineering principles supported by mathematical models and simulation. Therefore, besides the design of the vehicle properties as for the design of advanced driver-assistance systems, detailed models for the longitudinal, lateral, and vertical behavior are required. This holds, for example, for the design of electronic stability control (ESC), or adaptive cruise control (ACC) or lane keeping control (LKC). The further steps with increasing degrees of automatic driving, from partial automation to high automation require precise and safe automatic longitudinal and lateral vehicle control systems which have to be based on actual mathematical models of the driving car.

This book treats after considering the E/E architecture first vehicle control structures and a workflow for control system design. Then mathematical models for the tire traction, the longitudinal, lateral, vertical, roll, and pitch dynamic behavior are established and compared with measurements. In order to obtain well-adapted models during driving, different parameter and state variable estimation methods are introduced and experimental results are shown. The vehicle models are based on physical properties, and it is one of the goals to obtain a good compromise between a clear interpretation and accuracy of the models.

The design and application of braking control systems is shown for hydraulic and electromechanical brakes, followed by hydraulic and electrical steering control systems and semi-active and active suspension systems.

Based on this background, the structures and signal flow graphs of advanced driver-assistance systems like TCS, ESC, and LKA are first represented. Then the different degrees of automatic driving are considered and the design of longitudinal velocity and distance control (ACC) is treated as well as the design of lateral path control, lane change control, and lane merging control.

For improving active safety anticollision systems with automatic braking and/or steering and for overtaking maneuvers are described including experimental test maneuvers. Then the development of automatic (autonomous) driving is considered and the required functional tasks from environmental detection, through data processing, perception, and situation awareness to motion planning and control are outlined.

The book is an introduction into modeling and automatic control of vehicles and its components with many practical examples and experimental test drive results. It is oriented to advanced students of control, electrical, mechanical, and automotive engineering and will also be useful for practicing engineers in the field of automotive development.

The author is grateful to his research associates, who have performed many theoretical and experimental research projects on the subject of this book since about 1990; among them are C. Ackermann, M. Bauer, J. B. Bechtloff, M. Beck, M. Brner, J. Busshardt, St. Drogies, D. Fischer, St. Germann, I. Halbe, Chr. Halfmann, H. Holzmann, Ph. Keler, A. Khanafer, M. Kochem, R. Mannale, K. Schmitt, M. Schorn, R. Schwarz, S. Semmler, U. Sthlin, St. Stlzl, H. Straky, T. Weispfenning, D. Wesemeier, and M. Wrtenberger. Especially with regard to their continuous and detailed work on new methods and building up test benches, measurement, and computer equipment for research cars, the results of this book would not have been possible.

We also would like to thank the research organization Deutsche Forschungsgemeinschaft (DFG), the colleagues from the (DFG) funded special research program (Sonderforschungsbereich) IMES on Mechatronic Systems (19882001). Several results were obtained in cooperation with Adam Opel AG, Bosch Engineering GmbH, Continental-Teves AG, Daimler AG and during the Industry/University cooperation project PRORETA, funded by Continental AG, Frankfurt. We appreciate these cooperations strongly as they contributed greatly to our own research.