对开路面汽车紧急制动的稳定性控制  

Vehicle stability control of urgent braking on split-μ road

作　　者：李卫兵 吴琼 王翔宇 李亮[2] LI Weibing;WU Qiong;WANG Xiangyu;LI Liang(Technical Center,Anhui Jianghuai Automobile Group Co Ltd.,Automobile Intelligent and Network Technology Key Laboratory of Hefei 230601,China;State Key Laboratory of Automotive Safety and Energy,Tsinghua University,Beijing,100084,China)

机构地区：[1]安徽江淮汽车集团股份有限公司技术中心,汽车智能网联技术安徽省重点实验室,合肥230601 [2]清华大学汽车安全与节能国家重点实验室,北京100084

出　　处：《汽车安全与节能学报》2018年第3期272-280,共9页Journal of Automotive Safety and Energy

基　　金：国家自然科学基金优秀青年基金资助项目(51422505);国家重点研发计划资助项目(2017YFB0103502)

摘　　要：为了保持汽车在对开路面上进行紧急制动时的稳定性,提出了一种基于模型预测控制(MPC)的主动前轮转向(AFS)辅助控制技术。搭建了七自由度整车动力学模型,利用魔术公式建立轮胎模型。给出了控制模型,利用MPC方法,设计了AFS控制器。进行了Simulink-Carsim联合仿真。对于车辆在对开路面上紧急制动的工况,将本方法与其他方法的仿真测试对比。结果表明:在不改变原有的制动防抱死控制(ABS)控制逻辑的前提下,有AFS调控车辆横向跑偏0.49 m,而无AFS调控车辆横向跑偏1.64 m。因而,本方法能够抑制对开路面上紧急制动时汽车的跑偏,保证汽车的稳定性。Proposed an active front steering(AFS)control method based on a model predictive control(MPC)to keep vehicle stability when a vehicle brakes urgently on a split-μroad.Built a 7-dimension of freedoms(DOF)vehicle dynamic model and a tire model by using Magic Formula to design an AFS controller based on the MPC using a control model formulated with making a co-simulations of the soft wares of Simulink and Carsim.Moreover,the simulation results compared between deferent control-methods for vehicle brakes urgently on a split-μroad.The results show that lateral excursion with the AFS control is 0.49 m,while the lateral excursion without the AFS control is 1.64 m at the condition with no changes to the original antilock brake system(ABS)control.Therefore,the proposed method can restrain the vehicle off tracking to keep the vehicle stability when braking on split-μroad.

关 键 词：汽车安全 稳定性控制 主动前轮转向(AFS) 模型预测控制(MPC) 制动防抱死控制(ABS) 对开路面 

分 类 号：U491.6[交通运输工程—交通运输规划与管理]