基于质心侧偏角估计算法的车道保持稳定性控制  

Stability control on lane keeping based on side-slip angle estimation

作　　者：汪选要[1,2] 马成程 程义 王晓峰 王先杰 WANG Xuan-yao;MA Cheng-cheng;CHENG Yi;WANG Xiao-feng;WANG Xian-jie(School of Mechanical Engineering,Anhui University of Science and Technology,Huainan 232001;Anhui Key Laboratory of Mine Intelligent Equipment and Technology,Anhui University of Science and Technology,Huainan 232001)

机构地区：[1]安徽理工大学机械工程学院,安徽淮南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,安徽淮南232001

出　　处：《机械设计》2020年第5期57-62,共6页Journal of Machine Design

基　　金：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)。

摘　　要：为了提高低附着系数路面车道保持能力和稳定性,基于质心侧偏角和横摆角速度与期望值的差值设计了车道保持转向角补偿模糊控制器。质心侧偏角和横摆角速度是表征汽车稳定性的重要参数,也是所设计的模糊控制器的输入量,但质心侧偏角不易直接测量。因此,针对质心侧偏角运动学和动力学估计算法各自的特点,并利用前者修正后者的估计值,提出了质心侧偏角集成估计算法。基于CarSim/Simulink仿真结果表明,所提出的质心侧偏角估计算法具有较高估计精度,所设计的转向角补偿模糊控制器具有更好的车道保持能力和稳定性。The side-slip angle and the yaw rate are both important parameters for vehicle stability,but the side-slip angle is not easy to measure directly.Therefore,according to the characteristics of the side-slip angle estimation algorithms based on the kinematic model and the dynamic model,the former estimated value is adopted to correct the latter estimated value,and as a result,an integrated algorithm for side-slip angle estimation is worked out.In order to improve the lane-keeping ability and stability on the roads with low adhesion coefficient,a fuzzy controller for steering-angle compensation is developed based on the difference between the expected values on the one hand and the side-slip angle and the yaw rate on the other hand.The results of numerical simulation based on Carsim/Simulink indicate that the algorithm has high accuracy in estimation and the fuzzy controller for steering-angle compensation enjoys desirable lane-keeping ability and stability.

关 键 词：车道保持 模糊控制 质心侧偏角 汽车稳定性 

分 类 号：U461[机械工程—车辆工程]