基于动态稳定域的车辆横纵向稳定性协同控制  

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

作　　者：丛森森 高峰 许述财[2] Cong Sensen;Gao Feng;Xu Shucai(Suzhou Automobile Research Institute(Xiangcheng),Tsinghua University,Suzhou 215133;Tsinghua University,State Key Laboratory Automotive Safety and Energy,Beijing 100084)

机构地区：[1]清华大学苏州汽车研究院(相城),苏州215133 [2]清华大学,汽车安全与节能国家重点实验室,北京100084

出　　处：《汽车工程》2022年第6期900-908,共9页Automotive Engineering

基　　金：国家重点研发计划项目(2018YFE0204302);运输车辆检测、诊断与维修技术交通行业重点实验室开放课题(JTZL1904)资助。

摘　　要：车辆底盘横纵向稳定性控制是车辆安全的重要方面之一。针对车辆在稳定区域内横纵向参数特征,基于动态区域的稳定性分析和相应的稳定性控制器设计了横纵向协同稳定控制方法。首先,基于车辆传统基础稳定域建立了稳定性分析方法;其次,构建了适用于不同车辆工况的动态稳定域,使得稳定域无需针对不同的转向角和车速等重新估计;在此基础上,设计了稳定限幅控制;最后,以滑模面为稳定域边界设计了一种动态滑模控制器,使车辆状态始终维持稳定状态。通过Matlab/Simulink与CarSim的联合仿真,在高速转向和双车道变道场景中验证所提出的横纵向稳定控制方法的有效性。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.

关 键 词：横纵向协同 动态稳定域 车辆稳定性控制 滑模控制 

分 类 号：U463.6[机械工程—车辆工程]