关键词: 协调控制, 悬架, 制动, 转向

Abstract: A layered coordinated control strategy for chassis control system which is divided into upper and bottom layer control parts is adopted. The bottom controllers are 3 separate controllers, i.e., suspension, steering and braking system controllers. The controllers are used to carry out different control tasks and achieve performance indexes of subsystems. Based on layered coordinated control strategy, the upper coordinated controller is used to receive decision-making information coming from bottom controllers and modify the decision-making of bottom controllers, aiming at improving whole vehicle synthesis performance. The simulation and experimentation results show that chassis system control based on layered coordinated control achieves better performances of ride comfort, security and maneuver stabilization.

Key words: Braking, Coordinated control, Steering, Suspension