CRONE Active Suspension: Application to the All-electric Vehicle

This study is conducted within the framework of Connected electric Autonomous Vehicles (CeAV). Using data from the vehicle's proprioceptive and exteroceptive sensors, as well as inputs from infrastructure and other vehicles, the supervision system continuously identifies the current Operational Design Domain (ODD) in which the vehicle is located and proposes the most appropriate strategy, particularly for suspension control. This paper compares two variants of the Crone Ground Hook (CGH) strategy: the Nominal type CGHN, and the Generalized version CGHG. The analysis focuses on their ability to maintain safety in ODD3, evaluating performance both at constant speed and under actuator failure conditions. The CGH strategy is applied to an electric vehicle prototype (Peugeot E208) equipped with electric active suspension. The study demonstrates that the CGHG strategy performs best in both the frequency and time domains.