低附着系数路面车道保持模型预测控制及汽车稳定性控制
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摘要
提出了车道保持模型预测控制算法。在低附着系数路面上分析了双移线工况下转向角和侧向加速度二次低通滤波之差的峰值与汽车失稳程度之间的关系,基于可测信号(转向角、侧向加速度、横摆角速度和车速)提出了模糊控制算法,设计了汽车稳定性控制器。为了阻止低速和不严重失稳工况下汽车稳定性控制器的误启动,提出了不稳定指标模糊控制算法;为了避免汽车稳定性系数急速减小,设计了稳定性系数保持器。CarSim/Simulink仿真结果表明,在低附着系数路面上所设计的转向控制器和汽车稳定性控制器具有更好的车道保持能力和稳定性。
A lane keep model prediction control algorithm was proposed. The relationship between the peak value of secondary low pass filtering of steering wheel angle and lateral acceleration and the degree of vehicle instability were analyzed by double lane change(DLC) on low adhesion coefficient roads, the fuzzy logic control algorithm was determined based on the measured signals such as steering wheel angle, lateral acceleration, yaw rate and velocity, and a lateral stability controller was designed. In order to prevent the stability controller's false start on low velocity and not serious instability conditions, an unstable index fuzzy control algorithm was determined. In order to avoid coefficient of vehicle stability rapidly declining, a retainer of coefficient of stability was designed. The CarSim/Simulink simulation results show that the designed steering and vehicle stability controllers have better lane keeping ability and stability on low adhesion coefficient roads.
A lane keep model prediction control algorithm was proposed. The relationship between the peak value of secondary low pass filtering of steering wheel angle and lateral acceleration and the degree of vehicle instability were analyzed by double lane change(DLC) on low adhesion coefficient roads, the fuzzy logic control algorithm was determined based on the measured signals such as steering wheel angle, lateral acceleration, yaw rate and velocity, and a lateral stability controller was designed. In order to prevent the stability controller's false start on low velocity and not serious instability conditions, an unstable index fuzzy control algorithm was determined. In order to avoid coefficient of vehicle stability rapidly declining, a retainer of coefficient of stability was designed. The CarSim/Simulink simulation results show that the designed steering and vehicle stability controllers have better lane keeping ability and stability on low adhesion coefficient roads.
引文
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[14] 王金湘,陈南,皮大伟.基于横摆角速度变门限值的车辆稳定性控制策略及实车场地试验[J].汽车工程,2008,30(3):222-226.WANG Jinxiang,CHEN Nan,PI Dawei.Vehicle Stability Control Strategy and Field Test Based on Yaw Rate Variable Threshold[J].Automotive Engineering,2008,30(3):222-226.
[15] 余卓平,高晓杰,张立军.用于车辆稳定性控制的直接横摆力矩及车轮变滑移率联合控制研究[J].汽车工程,2006,28(9):844-848.YU Zhuoping,GAO Xiaojie,ZHANG Lijun.A Study on Coordination of Direct Yaw Moment Control and Variable Wheel Slip Control for Vehicle Stability[J].Automotive Engineering,2006,28(9):844-848.
[16] 罗明贵.基于滑移率控制的汽车横向稳定性控制算法研究[D].长春:吉林大学,2007.LUO Minggui.Algorithm Research of Vehicular Lateral Stability Control System Based on Slip Control[D].Changchun:Jilin University,2007.
[17] VADURI S S V.Development of Computer Tools for Analysis of Track Test Data and for Prediction of Dynamic Handling Response for Winston Cup Cars[D].Clemson:Clemson University,1999.
[2] 李琳辉,李明,郭景华,等.基于视觉的智能车辆模糊滑模横向控制[J].大连理工大学学报,2013,53(5):735-741.LI Linhui,LI Ming,GUO Jinghua,et al.Fuzzy Sliding Mode Lateral Control of Intelligent Vehicle Based on Vision[J].Journal of Dalian University of Technology,2013,53(5):735-741.
[3] 汪选要,王其东.基于道路误差动力学模型智能车辆横向切换LMIs/H∞转向控制策略[J].中国机械工程,2015,26(16):2237-2243.WANG Xuanyao,WANG Qidong.Lateral Switched LMIs/H∞ Steering Control Strategy of Intelligent Vehicle Based on the Path Error Dynamics Model[J].China Mechanical Engineering,2015,26(16):2237-2243.
[4] 王立标,李军,范剑,等.车辆横向稳定性自适应神经网络控制策略研究[J].汽车工程,2010,32 (6):493-496.WANG Libiao,LI Jun,FAN Jian,et al.A Study on the Control Strategy of Adaptive Neural Network for Vehicle Yaw Stability[J].Automotive Engineering,2010,32 (6):493-496.
[5] 王家恩,陈无畏,王檀彬,等.基于期望横摆角速度的视觉导航智能车辆横向控制[J].机械工程学报,2012,48(4):108-115.WANG Jiaen,CHEN Wuwei,WANG Tanbin,et al.Vision Guided Intelligent Vehicle Lateral Control Based on Desired Yaw Rate[J].Journal of Mechanical Engineering,2012,48(4):108-115.
[6] 陈无畏,王家恩,汪明磊,等.视觉导航智能车辆横向运动的自适应预瞄控制[J].中国机械工程,2014,25 (5):698-704.CHEN Wuwei,WANG Jiaen,Wang Minglei,et al.Adaptive Preview Control of Vision Guided Intelligent Vehicle Lateral Movement[J].China Mechanical Engineering,2014,25(5):698-704.
[7] CHOU H,D'ANDRéA-NOVEL B.Global Vehicle Control Using Differential Braking Torques and Active Suspension Forces[J].Vehicle System Dynamics,2005,43 (4):261-284.
[8] CERONE V,MILANESE M,REGRUTO D.Combined Automatic Lane-keeping and Driver's Steering through a 2-DOF Control Strategy[J].IEEE Transactions on Control Systems Technology,2009,17(1):135-142.
[9] MARINO R,CINILI F.Input-output Decoupling Control by Measurement Feedback in Four-wheel-steering Vehicles[J].IEEE Transactions on Control Systems Technology,2009,17(5):1163-1172.
[10] ENACHE N M,SEBSADJI Y,MAMMAR S,et al.Driver's Influence on the Performance of an Integrated Lane Departure Avoidance and Lane Keeping Assistance System[C]//2009 IEEE Control Applications & Intelligent Control.Saint Petersburg,2009:119-124.
[11] 曲婷.基于随机模型预测控制的驾驶员行为建模[D].长春:吉林大学,2015.QU Ting.Driver Behavior Modeling Based on Stochastic Model Predictive Control[D].Changchun:Jilin University,2015.
[12] PAN W,PAPELIS Y E.Real-time Dynamic Simulation of Vehicles with Electronic Stability Control:Modeling and Validation[J].International Journal of Vehicle Systems Modeling and Testing,2005,1(1):143-167.
[13] 李亮,宋健,于良耀.汽车动力学稳定性控制系统仿真平台研究[J].系统仿真学报,2007,19(7):1597-1600.LI Liang,SONG Jian,YU Liangyao.Research on Simulation Platform for Vehicle Dynamics Stability Control[J].Journal of System Simulation,2007,19(7):1597-1600.
[14] 王金湘,陈南,皮大伟.基于横摆角速度变门限值的车辆稳定性控制策略及实车场地试验[J].汽车工程,2008,30(3):222-226.WANG Jinxiang,CHEN Nan,PI Dawei.Vehicle Stability Control Strategy and Field Test Based on Yaw Rate Variable Threshold[J].Automotive Engineering,2008,30(3):222-226.
[15] 余卓平,高晓杰,张立军.用于车辆稳定性控制的直接横摆力矩及车轮变滑移率联合控制研究[J].汽车工程,2006,28(9):844-848.YU Zhuoping,GAO Xiaojie,ZHANG Lijun.A Study on Coordination of Direct Yaw Moment Control and Variable Wheel Slip Control for Vehicle Stability[J].Automotive Engineering,2006,28(9):844-848.
[16] 罗明贵.基于滑移率控制的汽车横向稳定性控制算法研究[D].长春:吉林大学,2007.LUO Minggui.Algorithm Research of Vehicular Lateral Stability Control System Based on Slip Control[D].Changchun:Jilin University,2007.
[17] VADURI S S V.Development of Computer Tools for Analysis of Track Test Data and for Prediction of Dynamic Handling Response for Winston Cup Cars[D].Clemson:Clemson University,1999.
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