ZF Presentation- Vehicle Motion Control - ADAS and ... · ZF Presentation- Vehicle Motion Control -...

ZF confidential

ZF Presentation- Vehicle Motion Control -ADAS and Performance Drive Aspect

Shanghai IAC Presentation | 2019-12-04

© ZF Friedrichshafen AGZF confidential © ZF Friedrichshafen AG 2

2. VMC cubiX®

3. VMC cubiX® Performance Drive (PD)

4. Examples of VMC application

5.

6.

1. Introduction of VMC

7.

8.

Agenda

October, 01st 2019 | DI | Implementation SW4ZF - REG Update

© ZF Friedrichshafen AGZF confidential 3

01VMC - IntroductionVMC - 上层架构介绍

System House - Vehicle Motion Control

© ZF Friedrichshafen AG

ZF‘s Road to Next Generation MobilityZF下一代移动解决方案

4

Our Mission and Strategy使命和策略

Our Goals 目标

4System House - Vehicle Motion Control

© ZF Friedrichshafen AGZF confidential © ZF Friedrichshafen AG© ZF Friedrichshafen AG

ZF Systems Expertise & VMC Portfolio ZF 系统化能力&VMC 产品

Advanced Driver Assistance Systems高级驾驶辅助系统

Electric Drives电驱动

Chassis Components底盘零部件

Steering Systems转向系统

Damping Systems减震系统

Safety Electronics安全电子

Active Chassis Systems主动底盘系统

Axle Drives / Electric Axle Drives驱动桥/电驱动桥

Axle Systems车桥系统

Braking Systems制动系统

Transmission Systems变速箱

Electronic Systems电子电控系统

Occupant Safety Systems被动安全系统

Electrified Powertrain :电驱动

Vehicle Motion Control:

车辆运动控制Automated Driving:

自主驾驶Integrated Safety:

集成式安全系统


© ZF Friedrichshafen AGZF confidential

02VMC cubiX® - Chassis Control Coordinator

VMC cubiX® - 底盘控制总调度



cubiX® - Chassis Control Coordinator 底盘控制总调度Project overview 项目概述

Future vehicles will offer a wide range of driving functions

未来车辆会有更宽泛的驾驶功能需求

• Different drive modes will be available: 不同的驾驶模式需求

Number of assistant systems & mechatronic actuators is increasing 辅助驾驶系统和机电一体化执行器大量增加

• Challenge to network these systems in a well-structured way 如何妥善构建不同系统的网络成为巨大的挑战

• Networking also generates/improves new functions 新的网络产生了新的功能

• Interface to the advanced driver assistance systems (ADAS) 提供了与无人驾驶系统的交互

• Control lateral, longitudinal and vertical dynamics 侧向，纵向和垂向运动学控制

Manually 手动 Assisted 辅助 Autonomous 无人驾驶



cubiX® - Chassis Control Coordinator 盘控底制总调度Project overview 项目概述


Front

Steering

Rear

SteeringBrake Engine

Drive

Train

Active

Damping…

Adaptive

Cruise

Control

Lane

Keep

Assist

Emergency

Braking

Assist

Emergency

Steering

Assist

Parking

Assist …Driver

High degree of mutual dependencies 系统相互独立

Front

Steering

Rear

SteeringBrake Engine

Drive

Train

Active

Damping…

Adaptive

Cruise

Control

Lane

Keep

Assist

Emergency

Braking

Assist

Emergency

Steering

Assist

Parking

Assist …Driver

CubiX®

Chassis Control Coordinator

Vehicle Trajectory Planning

cubiX®

Clear interface between ADAS and actuators执行器和ADAS之间有清晰的交互


cubiX® – Chassis Control Coordinator 盘控底制总调度

Trajectory Execution轨迹管理

Constraint Handler

约束控制

Plug & Play Interfaces 插接交互

Software Only

软件

Framework for New Functions 新功能网络

LaneCenteringControl

EmergencyBrakeAssist

EmergencySteerAssist

ParkingAssist

AdaptiveCruiseControl

HighwayAssist

ADAS Coordinator

DriverAssistant

Layer驾驶员辅助层

cubiX®

Chassis Control Coordinator

FrontSteering

RearSteering

BrakeSystem

DriveTrain

Vertical

Actuators

MotionAbstraction

Layer运动抽象层

ActuatorLayer执行层

kinematic motion demand constraint handler



03VMC cubiX ® Performance Drive (PD)



cubiX PD: Goals to improve driving behavior

Focusing on improving of vehicle dynamics, safety, comfort, fuel

efficiency and enabler of vehicle level actuator redundancy


ADAS

Actuator (ESC, EPS, AKC, CDC, ERC)

VMC ECU / Actuator ECU

VMC cubiX SW

Automated Driving Performance Driving

Focusing on intelligent execution of a trajectory provided by AD/ADAS


cubiX: Overview Control Concept


Infobase

Vehicle Observer

Interface to SignalSystemConsolidation

(SSC)

CDC AKC EPS ERC SCS Drivetrain

Interface to Driver HMI

Vertical controlLateral control

Split µ-control

Integrated control approach

Arbitrator

Actuator Abstraction


cubiX Concept

Vehicle Dynamic functions

Input Signal Collector

µ - Estimator

FailsafeObserver

ActuatorAvailability

Vehicle dynamic Controller

Vehicle Pre-stability Control

Vehicle Agile Parking Control

Actuator Abstraction

AKC values

Output Interfaces

Vehicle Dynamic LayerInfobase Layer

Arbitrator

Arbitration Layer Output Layer

PerfModeSelector

Interface toSSC

Vehicle Split Mu Control

HMI-Modes

Observer

ActuatorLimits and

values

Output Interface

ERC values

AWD values

Brake values

EPS values

µ-Split Controller

Vertical Control

ERC, CDC control



cubiX – Central Control - Overview

cubiX targets:

• Variable Vehicle Characteristic

• Depends on vehicle speed and drive mode

• PreStabilisation

• Depends on vehicle speed and drive mode

• Prevent as much ESC interventions as possible

• Actuator Arbitration

• Depends on available actuators (EOL settings, drive Situtation)

Yaw

Dam

pin

g

natural frequency [Hz]




cubiX targets:


• Dependend on vehicle speed and drive Mode


• Dependend on vehcile speed and drive Mode

• Prevent as much ESC Interventions as possible


• Dependend on available actuator (EOL settings,drive Situtation)

Yaw

Dam

pin

g





cubiX targets:


• Dependend on vehicle speed and drive Mode


• Dependend on vehcile speed and drive Mode

• Prevent as much ESC Interventions as possible


• Dependend on available actuator (EOL settings,drive Situtation)

Yaw

Dam

pin

g




03Examples of VMC application



VMC - Concept Car – GM CT6 VMC概念车型-GM CT6

Chassis 底盘

Active Safety 主动安全

Restraints 约束

EPS – Electrical Power SteeringIBC – Integrated Brake ControlAKC – Active Kinematic ControlFCM – Forward Camera ModuleEOCM – External Object Classification ModuleSDE – Safety Domain ECUSBS – Seatbelt SystemMSB – Motorized SeatbeltPAB – Passenger AirbagSIAB – Side Impact AirbagRRAB – Roof Rail Airbag (Curtain)



cubiX® - Chassis Control Coordinator –Example1

µ-Split Brake and Traction Control w/ and w/o AKC®



cubiX® - Chassis Control Coordinator –Example2


Flying Carpet No Flying Carpet


Without AKC Interaction 无AKC With AKC Interaction 有AKC

VMC application: Trailer Stabilization with AKC®

VMC应用：AKC拖车稳定应用Feed Forward Control: Function vehicle test前馈控制：车辆功能测试



VMC – AKC & mSTARS Combined Performance on GS8 demo carVMC-AKC & mSTRAS 共同安装在广汽GS8样车上

Vehicle GAC Trumpchi GS8

Wheel base 2800mm

System AKC + mSTRAS

AKC

Central Actuator 中置执行器

9° articulation 转角9°

+/-30mm disp. 行程+/-30mm


© ZF Friedrichshafen AGZF confidential 23

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