考虑人-车-路耦合的路径跟随过程操稳性预测研究  

Research on Handling Stability Prediction Considering Coupling of Driver-vehicle-road System in Path Tracking Process

作　　者：张庭芳[1] 朱树亮 梁帅 王爱春[2] 黄菊花[1] 吴晓建 ZHANG Tingfang;ZHU Shuliang;LIANG Shuai;WANG Aichun;HUANG Juhua;WU Xiaojian(School of Advanced Manufacturing,Nanchang University,Nanchang 330031,China;Jiangling Motors Co.,Ltd.,Nanchang 330001,China;College of Mechanical and Vehicle Engineering,Hunan University,Changsha 410082,China)

机构地区：[1]南昌大学先进制造学院,江西南昌330031 [2]江铃汽车股份有限公司,江西南昌330001 [3]湖南大学机械与运载工程学院,湖南长沙410082

出　　处：《湖南大学学报（自然科学版）》2023年第6期9-18,共10页Journal of Hunan University:Natural Sciences

基　　金：国家自然科学基金资助项目(52262054,52002163,52062036);江西省研究生创新专项资金资助项目(YC2021-S049)。

摘　　要：为更早预测车辆的操稳性失稳风险,针对性解决传统“人-车-路”耦合系统中“路”先验信息未知和由此导致的“人”输入难预测问题,借助先进辅助驾驶系统提供的前方预瞄路径,提出结合驾驶员转向模型及车辆非线性动力学模型的操稳性预测方法.构建“人-车-路”闭环反馈驾驶员模型,对跟随道路曲率的驾驶员转向行为进行预测;将当前车速与预测转向作为三自由度非线性动力学模型的输入,实现跟随前方路径的操稳性状态预测;通过Simulink-Carsim联合仿真及驾驶员模拟器硬件在环对比,进行双移线路径、变曲率路径和蛇形路径工况模拟.所提方法的操稳性状态预测值与实际值吻合良好.To predict the vehicle handling stability risk earlier,and to solve the problem of unknown prior information of“road”in the traditional“driver-vehicle-road”coupling system and the resulting difficulty in predicting“driver”input,a handling stability prediction method combined with the driver steering model and the vehicle nonlinear dynamics model was put forward using the forward preview path provided by advanced driver assistance systems.In this paper,firstly,a driver-vehicle-road closed-loop feedback driver model is constructed to compute the potential steering input,then the current vehicle speed and predicted steering are input into the three degrees of freedoms nonlinear dynamics model,and the prediction of handling stability state is subsequently accomplished.Finally,Simulink-Carsim co-simulation and the driver simulator in the loop are performed and compared,and the results of double-lane change,variable curvature path,and snake-shaped path show that the predicted values of thehandling stability states of the proposed method are in good agreement with the actual values.

关 键 词：先进辅助驾驶系统 车辆动力学 “人-车-路”闭环系统 操稳性预测 

分 类 号：U461.6[机械工程—车辆工程]