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Mathematical Problems in Engineering
Volume 2015, Article ID 263424, 18 pages
Research Article

Global Chassis Control System Using Suspension, Steering, and Braking Subsystems

1Tecnológico de Monterrey, School of Engineering and Sciences, Avenida E. Garza Sada No. 2501, 64849 Monterrey, NL, Mexico
2Universidad de Monterrey, Avenida Ignacio Morones Prieto No. 4500, 66238 San Pedro Garza García, NL, Mexico

Received 4 August 2015; Accepted 21 October 2015

Academic Editor: Xinggang Yan

Copyright © 2015 Carlos A. Vivas-Lopez et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


A novel Global Chassis Control (GCC) system based on a multilayer architecture with three levels: top: decision layer, middle: control layer, and bottom: system layer is presented. The main contribution of this work is the development of a data-based classification and coordination algorithm, into a single control problem. Based on a clustering technique, the decision layer classifies the current driving condition. Afterwards, heuristic rules are used to coordinate the performance of the considered vehicle subsystems (suspension, steering, and braking) using local controllers hosted in the control layer. The control allocation system uses fuzzy logic controllers. The performance of the proposed GCC system was evaluated under different standard tests. Simulation results illustrate the effectiveness of the proposed system compared to an uncontrolled vehicle and a vehicle with a noncoordinated control. The proposed system decreases by 14% the braking distance in the hard braking test with respect to the uncontrolled vehicle, the roll and yaw movements are reduced by 10% and 12%, respectively, in the Double Line Change test, and the oscillations caused by load transfer are reduced by 7% in a cornering situation.