"Improving Safety, Comfort and Efficiency of Convoy Vehicles Through Novel Preview Control"

车队车辆的行驶质量、主动安全性和能源效率将通过使用预瞄控制主动悬架得到改善。 主动悬挂车辆的行驶质量和抓地性能（即，在悬架系统中具有力致动器）可以通过感测车辆前方的道路并在预瞄控制器中使用该信息来改进。 代替安装在车辆前保险杠上的易受攻击的前瞻传感器，提出了前车的整体响应作为为跟随者生成预览控制器信息的手段。 在我们提出的研究控制器的设计和仿真，以评估性能，稳定性和鲁棒性。 物理实现将使用缩小规模的车辆硬件完成。 主动悬架还减少了纵向能量损失到垂直悬架运动，从而潜在地减少了车辆能量消耗。通过模拟，将对配备预瞄主动悬架和智能巡航控制系统的车辆的减排量进行量化。 然后，将引导车辆作为传感器的使用应用于偏航和侧倾动力学，以改善转弯过程中的操纵性和行驶质量。 对研究界的贡献包括新颖的控制方案，难以测量的车辆状态的鲁棒估计，并深入了解车辆系统元素之间的能量相互作用。

Ride quality, active safety and energy efficiency of convoy vehicles will be improved through the use of preview-controlled active suspensions. Both ride quality and roadholding of actively-suspended vehicles (i.e., with a force actuator in the suspension system) can be improved by sensing the road ahead of the vehicle and using this information in a preview controller. Instead of vulnerable look-ahead sensors mounted on the front bumper of the vehicle, the overall response of the preceding vehicle(s) is proposed as a means to generate preview controller information for followers. In our proposed research controllers will be designed and simulated to assess performance, stability and robustness. Physical implementation will be done using reduced-scale vehicle hardware. Active suspensions also reduce the longitudinal energy lost to vertical suspension motion, thereby potentially reducing vehicle energy consumption. The reduction for vehicles with preview-active suspension and intelligent cruise control will be quantified through simulation. The use of lead-vehicle-as-sensor will then be applied to yaw and roll dynamics to improve handling and ride quality during cornering. Contributions to the research community include novel control schemes, robust estimators of difficult-to-measure vehicle states, and insight into energy interactions among vehicle system elements.