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

中国机械工程

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

汪选要1,2,3;程义1;程煜1;叶友东1,2

1.安徽理工大学机械工程学院，淮南，232001
2.安徽理工大学矿山智能装备与技术安徽省重点实验室，淮南，232001
3.安徽理工大学深部煤矿采动响应与灾害防控国家重点实验室，淮南，232001

出版日期:2019-05-10 发布日期:2019-05-14
基金资助:
国家自然科学基金资助项目(51405004)；
安徽省重点研究与开发计划资助项目(1804a09020016)；
安徽省自然科学基金资助项目(1908085ME159)；
安徽理工大学校引进人才基金资助项目(11935)

Lane Keeping Model Prediction Control and Vehicle Stability Control on Low Adhesion Coefficient Roads

WANG Xuanyao1,2,3;CHENG Yi1;CHENG Yu1;YE Youdong1,2

1.School of Mechanical Engineering,Anhui University of Science and Technology,Huainan,Anhui,232001
2.Anhui Key Laboratory of Mine Intelligent Equipment and Technology,Anhui University of Science and Technology,Huainan,Anhui,232001
3.State Key Laboratory of Mining Response and Disaster Prevention and Control in Deep Coal Mines,Anhui University of Science and Technology,Huainan,Anhui,232001

Online:2019-05-10 Published:2019-05-14

摘要/Abstract

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。

关键词: 车道保持, 模型预测, 稳定性控制, 模糊控制, 保持器

Abstract: 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.

Key words: lane keeping, model prediction, stability control, fuzzy control, retainer

中图分类号:

U461

汪选要1,2,3;程义1;程煜1;叶友东1,2. 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[J]. 中国机械工程.

WANG Xuanyao1,2,3;CHENG Yi1;CHENG Yu1;YE Youdong1,2. Lane Keeping Model Prediction Control and Vehicle Stability Control on Low Adhesion Coefficient Roads[J]. China Mechanical Engineering.

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