A bond graph model incorporating sensors, actuators, and vehicle dynamics for developing controllers for vehicle safety (Q5931358)

The paper develops a four-wheel vehicle dynamic model useful for controller development. This model includes a suspension at each corner of the vehicle along with the actuators between each vehicle corner and the unsprung mass at the corner. Individual electric brake actuators and a steering actuator also are included in the model. When the submodels of all these components are represented with bond graphs, all input/output relationships are known through application of causality, and it is only necessary to attach the bond graph fragments together to derive the equations for the overall model. Such equations are derived directly from the bond graph and simulated using the advanced continuous simulation language.