Intelligent Road-Adaptive Semi-Active Suspension and Integrated Cruise Control
Résumé
The availability of road and vehicle data enables the control of road vehicles to adapt for
different road irregularities. Vision-based or stored road data inform the vehicle regarding the road
ahead and surface conditions. Due to these abilities, the vehicle can be controlled efficiently to deal
with different road irregularities in order to improve driving comfort and stability performances.
The present paper proposes an integration method for an intelligent, road-adaptive, semi-active
suspension control and cruise control system. The road-adaptive, semi-active suspension controller is
designed through the linear parameter-varying (LPV) method, and road adaptation is performed with
a road adaptivity algorithm that considers road irregularities and vehicle velocity. The road adaptivity
algorithm calculates a dedicated scheduling variable that modifies the operating mode of the LPV
controller. This modification of operation mode provides a trade-off between driving comfort and
vehicle stability performances. Regarding the cruise control, the velocity design of the vehicle is based
on the ISO 2631-1 standard, the created database, and the look-ahead road information. For each road
irregularity, the velocity of the vehicle is designed according to previous measurements and the table
of ISO 2631-1 standard. The comfort level must be selected in order to calculate dedicated velocity
for road irregularity. The designed velocity is tracked by the velocity-tracking controller evaluated
with the LPV control framework. The designed controllers are integrated, and the operation of the
integrated method is validated in a TruckSim simulation environment
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