汽车电子研究中心

研究方向 / 整车控制
研究方向简介 / Research Direction

        整车控制系统包括动力系统、能量系统、底盘电子控制系统、照明指示系统、仪表显示系统、辅助系统、整车综合控制系统、空调系统和安全系统等等。整车控制是电动汽车控制系统核心,承担整车数据的交换、整车安全管理、驾驶员意图传递、动力分配管理和能量分配管理的任务,影响者整车的动力性和经济性、安全性、驾驶舒适性与整车的协调控制。

全向智能电动车OAEGV / Selected Projects

        智能化、电动化的移动平台(包括地面车辆或移动机器人)在许多特定场合都有广阔的应用前景。团队研制的全向智能电动车-OAEGV (Omni Autonomous Electric Ground Vehicles)可实现直行、横行、斜行、零半径转向等多种运动模式,具有很好的机动性和灵活性。自主感知、认知和控制等智能车辆技术的研究和应用,使OAEGV成为胜任多种特定区域和特定任务的智能载运车辆的利器。
        OAEGV主要特色有:1)轮毂电机实现四轮独立驱动,具备大载荷高速移动能力;2)实时可靠的四轮独立驱动+四轮独立转向的运动协调控制策略,保证车辆运动的平顺性;3)基于预测控制的高可靠性和高精度的轨迹跟踪策略;4)多传感器融合的导航定位算法,在复杂动态环境下确保定位的准确性;5)开发专有的分层式控制器硬件在环测试平台HCIL(Hierarchical-Controller-in-the-loop),采用了高保真的多体动力学车辆模型,可实现控制策略的快速迭代优化;6)面向高效协同的多车(机)智能协作策略;7)智能路面感知技术保证车辆的运动稳定和安全性。
        团队已完成了OAGV模块化软硬件平台的搭建,并在多种应用场合进行了运行测试。OAEGV是厂区内无人搬运、园区自动巡检、智能农场等的理想移动平台。如果配备执行装备(如机械臂),OAEGV可胜任更为复杂、精细的任务。

成果 / Intellectual Properties

代表性论文 / Selected Papers

1. Xu G, Xu K, Zheng C, et al. Fully Electrified Regenerative Braking Control for Deep Energy Recovery and Maintaining Safety of Electric Vehicles [J]. IEEE Transactions on Vehicular Technology, 2016, 65(3): 1186-1198.
2. Xu G, Xu K, Zheng C, et al. Optimal Operation Point Detection Based on Force Transmitting Behavior for Wheel Slip Prevention of Electric Vehicles [J]. IEEE Transactions on Intelligent Transportation Systems, 2016, 17(2): 481-490.
3. Zahid T, Xu K, Li W M, et al. State of charge estimation for electric vehicle power battery using advanced machine learning algorithm under diversified drive cycles [J]. Energy, 2018, 162:871-882.

4. Hu Y, Li W, Xu K, et al. Energy Management Strategy for a Hybrid Electric Vehicle Based on Deep Reinforcement Learning [J]. Applied Sciences-Basel, 2018, 8 (2), 187.
5. 张艳辉,徐坤,郑春花等.智能电动汽车信息感知技术研究进展,仪器仪表学报 [J]. 2017, 38 (04): 794-805.
6. Zahid T, Xu K, Li W. Machine learning an alternate technique to estimate the state of charge of energy storage devices [J]. Electronics Letters, 2017, 53(25): 1665-1666.
7. Qin F, Xu G, Hu Y, Xu K, Li W. Stochastic Optimal Control of Parallel Hybrid Electric Vehicles [J]. Energies, 2017, 10(2): 214.
8. Xu K, Xu G, Zheng C. Analysis of torque transmitting behavior and wheel slip prevention control during regenerative braking for high speed EMU trains [J]. Acta Mechanica Sinica, 2016, 32(2): 244-251.
9. Zheng C, Xu G, Xu K, et al. An energy management approach of hybrid vehicles using traffic preview information for energy saving [J]. Energy Conversion and Management, 2015, 105: 462-470.
10. Xu K, Xu G, Zheng C. Novel Determination of Wheel-Rail Adhesion Stability for Electric Locomotives [J]. International Journal of Precision Engineering and Manufacturing, 2015, 16(4): 653-660.
11. 徐国卿, 徐坤, 张琦, et al. 论电动汽车的发展趋势(英文) ,集成技术 [J]. 2014, 3(01): 1-17.
12. Xu K, Xu G, Zheng C, et al. A novel adhesion stability detection methodology and slip prevention control strategies for wheeled ground vehicles [C], IEEE International Conference on Robotics & Biomimetics. IEEE, 2015.
13. Zhou Y, Xu G, Qin F, Xu K, Wang G, Ou Y, Lin G, Zhang Q. The prospect of smart cars: Intelligent structure and human-machine interaction [C]. Proceedings of the 2013 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2013: 1899-1904.
14. Xu G, Xu K, Li W. Novel estimation of tyre-road friction coefficient and slip ratio using electrical parameters of traction motor for electric vehicles [J]. International Journal of Vehicle Autonomous Systems, 2013, 11(2/3): 261.
15. 徐国卿, 徐坤, 李卫民. 电动汽车动力学控制研究进展,集成技术 [J]. 2012, 1(01): 6-14.
16. Chen J, Xu G, Xu K, et al. Traction control for electric vehicles: A novel control scheme [C]. Proceedings of the 2012 IEEE International Conference on Information and Automation, 2012: 367-372.
17. Xu G, Li W, Xu K, et al. An Intelligent Regenerative Braking Strategy for Electric Vehicles [J].Energies, 2011, 4(9): 1461-1477.
18. H, Xu G, Yan J, Lam T L, Xu Y, Xu K, Energy Management for Four-Wheel Independent Driving Vehicle [M]. IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems. 2010: 5532-5537.

代表性专利 / Selected Patents

1.Slip Rate Detection Method and Detection System for Electric Vehicle, 2014.12.9-2031.7.29, 美国, US8909411 B2 (专利)
2.一种判断牵引状态下的车辆工作状态的方法和系统, 2018.12.21-2034.12.16, 中国, ZL201410783813.2 (专利)
3.一种电动汽车的滑移率检测方法及检测系统, 2012.11.21-2030.11.29, 中国, ZL201010562956.2 (专利)
4.一种电动汽车路面自适应转矩控制系统 , 2012.11.21-2030.7.27, 中国, ZL201010237762.5 (专利)
5.一种总线可靠性测试方法及系统, 2015.3.25-2033.11.21, 中国, ZL201310593926.1 (专利)
6.牵引力控制检测系统, 2015.12.2-2033.11.22,中国, ZL201310598152.1 (专利)