基于动态稳定域的车辆横纵向稳定性协同控制

doi:10.19562/j.chinasae.qcgc.2022.06.012

Abstract

Abstract:

The transverse and longitudinal stability control of chassis is one of the important aspects of vehicle safety. According to the transverse and longitudinal parameter characteristics of the vehicle in the stability region， based on the stability analysis of dynamic region and the corresponding stability controller， a transverse and longitudinal cooperative stability control method is designed. Firstly， the stability analysis method is established based on the traditional vehicle foundation stability region； secondly， a dynamic stability region suitable for different vehicle working conditions is constructed， so that the stability region does not need to be re-estimated for different steering angles and vehicle speeds； on this basis， a stable amplitude limiting control algorithm is designed； finally， taking the sliding mode surface as the boundary of the stability region， a dynamic sliding mode controller is designed to keep the vehicle state stable all the time. Through the joint simulation of Matlab/Simulink and CarSim， the effectiveness of the transverse and longitudinal stability control method is verified in the high-speed steering scene and double line shifting scene.

Key words: horizontal and vertical coordination, dynamic stability region, vehicle stability control, sliding mode control

Sensen Cong,Feng Gao,Shucai Xu. Cooperative Control of Vehicle Lateral and Longitudinal Stability Based on Dynamic Stability Region[J].Automotive Engineering, 2022, 44(6): 900-908.

Figures/Tables 15

前提	条件	状态
$V y ≥ 0$	$r ≥ f 1 V y \| \| r < f 2 V y$	失稳状态
$V y ≥ 0$	$f 2 V y ≤ r < f 1 V y$	稳定状态
$V y < 0$	$r ≥ - f 2 - V y \| \| r < - f 1 - V y$	失稳状态
$V y < 0$	$- f 1 - V y ≤ r < - f 2 - V y$	稳定状态

变量	含义	数值	变量	含义	数值
$m$ /kg	整车质量	1 270	$L y$	轮胎参数	0.182
$g$ /（ $m ? s - 2$ ）	重力常数	9.8	$μ c x$		0.35
$I z$ /（ $k g ? s 2$ ）	偏航惯性力矩	1 624.2	$μ c y$		0.26
$μ$	路面附着系数	1	$μ s x$		1.5
$l f$ /m	质心至前轴距离	1.02	$μ s y$		1.5
$l r$ /m	质心至后轴距离	1.89	$σ 0 y$		211.8
$l s$ /m	轮距的1/2	0.96	$σ 2 y$		0.006 9
$h g$ /m	车辆质心高度	0.54	$v s x$		10.5
$ζ R y$	轮胎参数	0.091	$v s y$		7.4
$ζ L y$	轮胎参数	0.064

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Cooperative Control of Vehicle Lateral and Longitudinal Stability Based on Dynamic Stability Region

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