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| 1 | Dual Extended Kalman Filter for Combined Estimation of Vehicle State and Road Friction显示文摘Vehicle state and tire-road adhesion are of great use and importance to vehicle active safety control systems. However, it is always not easy to obtain the information with high accuracy and low expense. Recently, many estimation methods have been put forward to solve such problems, in which Kalman filter becomes one of the most popular techniques. Nevertheless, the use of complicated model always leads to poor real-time estimation while the role of road friction coefficient is often ignored. For the purpose of enhancing the real time performance of the algorithm and pursuing precise estimation of vehicle states, a model-based estimator is proposed to conduct combined estimation of vehicle states and road friction coefficients. The estimator is designed based on a three-DOF vehicle model coupled with the Highway Safety Research Institute(HSRI) tire model; the dual extended Kalman filter (DEKF) technique is employed, which can be regarded as two extended Kalman filters operating and communicating simultaneously. Effectiveness of the estimation is firstly examined by comparing the outputs of the estimator with the responses of the vehicle model in CarSim under three typical road adhesion conditions(high-friction, low-friction, and joint-friction). On this basis, driving simulator experiments are carried out to further investigate the practical application of the estimator. Numerical results from CarSim and driving simulator both demonstrate that the estimator designed is capable of estimating the vehicle states and road friction coefficient with reasonable accuracy. The DEKF-based estimator proposed provides the essential information for the vehicle active control system with low expense and decent precision, and offers the possibility of real car application in future. | ZONG Changfu HU Dan ZHENG Hongyu | 2013 | Chinese Journal of Mechanical Engineering2013，26，2： | 18 |
| 2 | Multi-objective Stability Control Algorithm of Heavy Tractor Semi-trailer Based on Differential Braking显示文摘Rollover and jack-knifing of tractor semi-trailer are serious threats for vehicle safety,and accordingly active safety technologies have been widely used to reduce or prevent the occurrence of such accidents.However,currently tractor semi-trailer stability control is generally only a single hazardous condition (rollover or jack-knifing) control,it is difficult to ensure the vehicle comprehensive stability of various dangerous conditions.The main objective of this study is to introduce a multi-objective stability control algorithm which can improve the vehicle stability of a tractor semi-trailer by using differential braking.A vehicle controller is designed to minimize the likelihood of rollover and jack-knifing.First a linear vehicle model of tractor semi-trailer is constructed.Then an optimal yaw control for tractor using differential braking is applied to minimize the yaw rate and lateral acceleration deviation of tractor,as well as the hitch articulation angle of tractor semi-trailer,so as to improve the vehicle stability.Second a braking scheme and variable structure control with sliding mode control are introduced in order to achieve the best braking effect.Last Fishhook maneuver is introduced to the active safety simulation and the active control system effect verification.The simulation results show that multi-objective stability control algorithm of semi-trailer could improve the vehicle stability significantly during the transient maneuvers.The proposed multi-objective stability control algorithm is effective to prevent the vehicle rollover and jackknifing. | ZONG Changfu ZHU Tianjun WANG Chang LIU Haizhen | 2012 | Chinese Journal of Mechanical Engineering2012，25，1： | 13 |
| 3 | A Novel Integrated Stability Control Based on Differential Braking and Active Steering for Four-axle Trucks显示文摘Di erential braking and active steering have already been integrated to overcome their shortcomings. However, existing research mainly focuses on two-axle vehicles and controllers are mostly designed to use one control method to improve the other. Moreover, many experiments are needed to improve the robustness; therefore, these control methods are underutilized. This paper proposes an integrated control system specially designed for multi-axle vehicles, in which the desired lateral force and yaw moment of vehicles are determined by the sliding mode control algorithm. The output of the sliding mode control is distributed to the suitable wheels based on the abilities and potentials of the two control methods. Moreover, in this method, fewer experiments are needed, and the robustness and simultaneity are both guaranteed. To simplify the optimization system and to improve the computation speed, seven simple optimization subsystems are designed for the determination of control outputs on each wheel. The simulation results show that the proposed controller obviously enhances the stability of multi-axle trucks. The system improves 68% of the safe velocity, and its performance is much better than both di erential braking and active steering. This research proposes an integrated control system that can simultaneously invoke di erential braking and active steering of multi-axle vehicles to fully utilize the abilities and potentials of the two control methods. | Buyang Zhang Changfu Zong Guoying Chen Yanjun Huang Ting Xu | 2019 | Chinese Journal of Mechanical Engineering2019，32，1： | 6 |
| 4 | Path-following control of autonomous ground vehicles using triple-step model predictive control显示文摘Dear editor,Autonomous ground vehicles(AGVs)equipped with a variety of advanced sensor systems exemplify the recent advances in modern automobile industry and have been receiving significant research interest from academia to industry owing to their prospect to reduce traffic congestion and traffic incidents. | Yulei WANG Hongyu ZHENG Changfu ZONG Hongyan GUO Hong CHEN | 2020 | Science China(Information Sciences)2020，63，10： | 3 |
| 5 | Study on Braking Force Distribution Algorithm for Hybrid Electric Bus Based on EBS显示文摘 | He Rong Zheng Hongyu Zong Changfu | 2013 | SAE Paper2013，，： | 1 |
| 6 | Estimation of Vehicle States and Tire-Road Frieation Using Parallel Extended Kalman Filte- ring显示文摘 | Zong Changfu Song Pan Hu Dan | | Journal of Zhejiang University Science Applied Physics & Engineering0，12，6： | 1 |
| 7 | Precise Compound Control of Loading Force for Electric Load Simulator of Electric Power Steering Test Bench显示文摘Electric load simulator(ELS) systems are employed for electric power steering(EPS) test benches to load rack force by precise control. Precise ELS control is strongly influenced by nonlinear factors. When the steering motor rapidly rotates, extra force is directly superimposed on the original static loading error, which becomes one of the main sources of the final error. It is key to achieve ELS precise loading control for the entire EPS test bench. Therefore, a three-part compound control algorithm is proposed to improve the loading accuracy. First, a fuzzy proportional–integral plus feedforward controller with force feedback is presented. Second, a friction compensation algorithm is established to reduce the influence of friction. Then, the relationships between each quantity and the extra force are analyzed when the steering motor rapidly rotates, and a net torque feedforward compensation algorithm is proposed to eliminate the extra force. The compound control algorithm was verified through simulations and experiments. The results show that the tracking performance of the compound control algorithm satisfies the demands of engineering practice, and the extra force in the ELS system can be suppressed by the net torque corresponding to the actuator’s acceleration. | Changhua Dai Guoying Chen Changfu Zong Buyang Zhang | 2022 | Chinese Journal of Mechanical Engineering2022，35，1： | 1 |
| 8 | Driving Intentions Identification and Behaviors Prediction in Car Lane Change 显示文摘 | Zong Changfu Yang Xiao Wang Chang | 2009 | Journal of Jilin University (Engineering and Technology Edition)2009，39，： | 1 |
| 9 | SOC estimation and fault tolerant eontrol method of power battery for steering-by-wire system 显示文摘 | He Lei Zong Changfu Jiang Guohua | 2012 | Journal of Jilin University:Engineering and Technology Edition2012，42，1： | 1 |
| 10 | Development of MRF Damper Modelling and Validation of MRF Damper Test 显示文摘 | Zhu Tianjun Zong Changfu | 2009 | Control Automation and Systems Engineering2009，7，2： | 1 |
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