极限工况下主动前轮转向汽车稳定性控制*

doi:10.19562/j.chinasae.qcgc.2020.02.008

汽车工程 ›› 2020, Vol. 42 ›› Issue (2): 191-198.doi: 10.19562/j.chinasae.qcgc.2020.02.008

极限工况下主动前轮转向汽车稳定性控制^*

李绍松^1,2, 郭孔辉², 仇韬², 陈虹³, 王国栋¹, 崔高健¹

1.长春工业大学机电工程学院,长春 130012;
2.长春孔辉汽车科技股份有限公司,长春 130000;
3.吉林大学,汽车仿真与控制国家重点实验室,长春 130025

收稿日期:2018-12-27 出版日期:2020-02-25 发布日期:2020-02-25
通讯作者: 郭孔辉,教授,中国工程院院士,E-mail:guokonghui@gmail.com
基金资助:
*国家重点研发计划(2017YFB0103700)和吉林省重大科技攻关项目(20170201005GX)资助

Stability Control of Vehicle with Active Front Steering Under Extreme Conditions

Li Shaosong^1,2, Guo Konghui², Qiu Tao², Chen Hong³, Wang Guodong¹, Cui Gaojian¹

1.School of Mechatronic Engineering, Changchun University of Technology, Changchun 130012;
2. KH Automotive Technologies (Changchun) Co., Ltd., Changchun 130000;
3.Jilin University, State Key Laboratory of Automotive Simulation and Control, Changchun 130025

Received:2018-12-27 Online:2020-02-25 Published:2020-02-25

摘要/Abstract

摘要： 轮胎对汽车稳定性有重要影响,研究和利用轮胎的非线性特性有助于扩展汽车的稳定域。本文基于非线性轮胎模型,提出一种改进型线性时变模型预测控制(LTV-MPC)方法。该方法能扩展主动前轮转向汽车的稳定范围,提高极限工况下主动前轮转向汽车的稳定性。仿真结果表明,该方法比传统的LTV-MPC方法具有更好的稳定性控制效果。

关键词: 车辆动力学, 稳定性控制, 主动前轮转向, 模型预测控制

Abstract: Tire has an important influence on vehicle stability. Studying and utilizing the nonlinear characteristics of tire is conducive to expanding the stability region of vehicle. In this paper, a modified linear time-varying model predictive control (LTV-MPC) method is proposed based on nonlinear tire model. The proposed method can expand the stability region of the vehicle with active front steering and enhance vehicle stability under extreme conditions. Simulation results show that the proposed method has better control effects than the traditional LTV-MPC

Key words: vehicle dynamics, stability control, active front steering, model predictive control

李绍松, 郭孔辉, 仇韬, 陈虹, 王国栋, 崔高健. 极限工况下主动前轮转向汽车稳定性控制^*[J]. 汽车工程, 2020, 42(2): 191-198.

Li Shaosong, Guo Konghui, Qiu Tao, Chen Hong, Wang Guodong, Cui Gaojian. Stability Control of Vehicle with Active Front Steering Under Extreme Conditions[J]. Automotive Engineering, 2020, 42(2): 191-198.

参考文献

[1] YIM S, KIM S, YUN H. Coordinated control with electronic stability control and active front steering using the optimum yaw moment distribution under a lateral force constraint on the active front steering[J]. Proceedings of the Institution of Mechanical Engineers Part D: Journal of Automobile Engineering,2016,230.
[2] JI Y, GUO H, CHEN H. Integrated control of active front steering and direct yaw moment for enhancing lateral vehicle stability[C]. International Conference on Mechatronics & Control. IEEE,2015.
[3] YIM S. Coordinated control of ESC and AFS with adaptive algorithms[J]. International Journal of Automotive Technology,2017,18(2):271-277.
[4] SAΪD M, DAMIEN K. Vehicle handling improvement by active steering[J]. Vehicle System Dynamics,2002,38(3):32.
[5] FALCONE P, BORRELLI F, ASGARI J, et al. Predictive active steering control for autonomous vehicle systems[J]. IEEE Transactions on Control Systems Technology,2007,15(3):566-580.
[6] 徐兴,卢山峰,陈龙.基于差动和自主转向协调的分布式驱动无人车轨迹跟踪[J].汽车工程,2018,40(4):104-110.
[7] LI S, WANG G, GUO L. NMPC-based yaw stability control by active front wheel steering[C]. Preprints, 5th IFAC Conference on Engine and Powertrain Control, Simulation and Modeling,2018, IFAC.
[8] 陈虹.模型预测控制[M].北京:科学出版社,2013.
[9] HROVAT D, CAIRANO S D, TSENG H E, et al. The development of model predictive control in automotive industry: a survey[C]. IEEE International Conference on Control Applications. IEEE,2013.
[10] 陈杰,李亮,宋健.基于LTV-MPC的车辆稳定性控制研究[J].汽车工程,2016,38(3):308-316.
[11] BORRELLI F, FALCONE P, KEVICZKY T, et al. MPC-based approach to active steering for autonomous vehicle systems[J]. International Journal of Vehicle Autonomous Systems,2005,3(2/3/4):265.
[12] FALCONE B P, TSENG H E, BORRELLI F, et al. MPC-based yaw and lateral stabilization via active front steering and braking[J]. Vehicle System Dynamics,2008,46(s1):611-628.
[13] CHEN W H, BALLANCE D J, OREILLY J. Model predictive control of nonlinear systems: computational burden and stability[J]. IEE Proceedings-Control Theory and Applications,2000,147(4):387-417.
[14] FALCONE P, TUFO M, BORRELLI F, et al. A linear time varying model predictive control approach to the integrated vehicle dynamics control problem in autonomous systems[C]. IEEE Conference on Decision & Control. IEEE,2007.
[15] FALCONE P, BORRELLI F, TSENG H E, et al. Linear time-varying model predictive control and its application to active steering systems: stability analysis and experimental validation[J]. International Journal of Robust & Nonlinear Control,2010,18(8):862-875.
[16] CHOI M, CHOI S B. MPC for vehicle lateral stability via differential braking and active front steering considering practical aspects[J]. Proceedings of the Institution of Mechanical Engineers Part D: Journal of Automobile Engineering,2016,230(4):459-469.
[17] BEAL C E. Model predictive control for vehicle stabilization at the limits of handling[J]. IEEE Transactions on Control Systems Technology,2013,21(4):1258-1269.
[18] CHOI M, CHOI S B. Model predictive control for vehicle yaw stability with practical concerns[J]. IEEE Transactions on Vehicular Technology,2014,63(8):3539-3548.
[19] ERLIEN S M, FUJITA S, GERDES J C. Shared steering control using safe envelopes for obstacle avoidance and vehicle stability[J]. IEEE Transactions on Intelligent Transportation Systems,2016,17(2):441-451.
[20] BROWN M, FUNKE J, ERLIEN S, et al. Safe driving envelopes for path tracking in autonomous vehicles[J]. Control Engineering Practice,2016:S0967066116300831.
[21] FUNKE J, BROWN M, ERLIEN S M, et al. Prioritizing collision avoidance and vehicle stabilization for autonomous vehicles[C]. Intelligent Vehicles Symposium. IEEE,2015.
[22] PACEJKA H B. Tyre and vehicle dynamics (second edition)[M].2006.

极限工况下主动前轮转向汽车稳定性控制^*

Stability Control of Vehicle with Active Front Steering Under Extreme Conditions

PDF (PC)

赞

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 15

Metrics

本文评价

推荐阅读 10

[1]	王明,唐小林,杨凯,李国法,胡晓松. 考虑预测风险的自动驾驶车辆运动规划方法[J]. 汽车工程, 2023, 45(8): 1362-1372.
[2]	高锋,冯德福,胡秋霞. 面向NMPC运动规划系统的数值优化加速技术[J]. 汽车工程, 2023, 45(8): 1438-1447.
[3]	林程, 汪博文, 吕沛原, 宫新乐, 于潇. 面向变曲率道路的自动驾驶汽车换道博弈运动规划与协同控制研究[J]. 汽车工程, 2023, 45(7): 1099-1111.
[4]	李军, 周伟, 唐爽. 基于自适应拟合的智能车换道避障轨迹规划[J]. 汽车工程, 2023, 45(7): 1174-1183.
[5]	查云飞,吕小龙,陈慧勤,易迎春,王燕燕. 基于路面附着系数估计的车辆轨迹跟踪控制[J]. 汽车工程, 2023, 45(6): 1010-1021.
[6]	贺伊琳,马建,杨舒凯,郑威,薛启帆. 融合预瞄特性的智能电动汽车稳定性模型预测控制研究[J]. 汽车工程, 2023, 45(5): 719-734.
[7]	周兵,魏佳宝,柴天,吴晓建,王鹤. 基于最优方法的碰后辅助驾驶控制策略[J]. 汽车工程, 2023, 45(4): 561-571.
[8]	张彬,邹渊,张旭东,孙逢春,吴喆,孟逸豪. 混动履带式无人平台轨迹跟踪控制研究[J]. 汽车工程, 2023, 45(4): 579-587.
[9]	张紫微,郑玲,李以农,乔旭强,郑浩,王戡. 考虑前车运动不确定性的多目标自适应巡航控制[J]. 汽车工程, 2023, 45(3): 361-371.
[10]	李子先,潘世举,徐友春. 8轮分布式电驱动车辆AFS和DYC协同控制[J]. 汽车工程, 2023, 45(3): 409-420.
[11]	贺林,徐子昂,黄春荣,龚超,李书华,石琴. 线控转向系统转角预测滑模控制算法研究[J]. 汽车工程, 2023, 45(12): 2200-2208.
[12]	胡丹丹,尹鹏飞,牛国臣,赵金聚. 非结构化道路下离轴式拖挂车辆主动避障控制研究[J]. 汽车工程, 2023, 45(12): 2318-2329.
[13]	宋强,王冠峰,商赫,张念忠. 基于多参数控制的分布式驱动电动汽车操纵稳定性控制策略研究[J]. 汽车工程, 2023, 45(11): 2104-2112.
[14]	芦勇,何一超,田贺,江昆,杨殿阁. 面向量产的自适应巡航控制系统纵向加速度规划方法研究[J]. 汽车工程, 2023, 45(10): 1803-1814.
[15]	徐璞磊,蔡英凤,廉玉波,孙晓强,王海,陈龙,钟益林. 基于改进分层可拓理论的智能汽车AFS/DYC协调控制[J]. 汽车工程, 2023, 45(1): 20-31.