极限工况下车辆的偏航稳定性控制

doi:10.19562/j.chinasae.qcgc.2025.12.011

Abstract

Abstract:

A high-speed vehicle running unilaterally over a low traction coefficient road surface （e.g.， water or sand） is very likely to cause a large yaw loss of control， and the traditional control system relies on the driver's operation and is not robust enough， resulting in an increased risk of misoperation under emergency conditions. To address this problem， in this paper a front wheel active steering strategy is proposed based on radial basis function neural network sliding mode control （RBF-SMC）. Firstly， a two-degree-of-freedom model of the vehicle is established， and the RBF neural network is fused with the sliding mode control， which effectively suppresses the vibration problem of the traditional sliding mode control by approximating the system uncertainty through the adaptive law. Secondly， a nonlinear tire model is established based on the magic tire formula to solve the differential equations of the vehicle dynamics to obtain the dynamic stability domain of the vehicle phase plane， so as to realize that the controller intervenes only when the vehicle is on the verge of going out of control， reducing the interference to the normal operation of the driver. Finally， the control performance of different controllers is compared by double-shifted line conditions， and a folio road condition is designed to simulate the above emergency conditions to verify the effectiveness of the controller proposed in this paper. The simulation results show that this method has better yaw stability control effect than the traditional Sliding Mode Control （SMC） and Linear Quadratic Regulator （LQR）.

Key words: yaw stability control, sliding mode control, magic formula model, dynamic stabilization domains, split-μ road condition

Yong Han,Sihang Xie,Shuiwen Shen,Zhenyu Qin,Di Pan,Zhiqun Yuan. Yaw Stability Control of Vehicles Under Extreme Working Conditions[J].Automotive Engineering, 2025, 47(12): 2387-2396.

Figures/Tables 16

参数	数值	参数	数值
$a 0$	1.406	$a 7$	-0.381 96
$a 1$	-47.424 3	$a 8$	0.002 289
$a 2$	1 528.122	$a 9$	0.013 442
$a 3$	3 260.4	$a 10$	0.003 709
$a 4$	15.726 6	$a 11$	19.165 6
$a 5$	0.005 01	$a 12$	12.135 6
$a 6$	-0.004 92	$a 13$	6.262 06

附着系数	斜率绝对值	截距绝对值	相对斜率绝对值 $K 1$	相对截距绝对值 $K 2$
0.2	6.5	0.48	0.630	0.350
0.4	9.85	0.705	0.956	0.515
0.6	10.24	1.156	0.994	0.843
0.8	10.3	1.37	1	1

车速/（ $k m · h$ ^-1）	斜率绝对值 $A *$	截距绝对值 $B *$
60	10.486	1.47
80	10.3	1.37
100	10.15	0.806
120	10.08	0.719

前轮转角	相对偏移量 $△ d$	移动方向
6°	0.062 6	右
3°	0.025 2	右
0°	0	无
-3°	-0.026 9	左
-6°	-0.052 2	左

参数	符号	数值
质心到前轴距离	$a$	1.015 $m$
质心到后轴距离	$b$	1.895 $m$
整车质量	$m$	1 270 $k g$
横摆转动惯量	$I z$	1 536.7 $k g ? m 2$
前轮侧偏刚度	$C f$	-112 600 $N ? m / r a d$
后轮侧偏刚度	$C r$	-135 000 $N ? m / r a d$

控制器	横摆角速度峰值/（（°）·s^-1）	质心侧偏角峰值/（°）	恢复时间/s
LQR	$4.49$	1.03	4.81
SMC	$3.10$	0.65	4.28
RBF-SMC	$1.98$	0.58	3.65

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Yaw Stability Control of Vehicles Under Extreme Working Conditions

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