基于底盘集成控制的人-车闭环系统对提高车辆操纵稳定性和路径跟踪能力的效果研究

A Study on the Effects of Chassis Integrated Control-based Driver-vehicle Closed-loop System on Improving Vehicle Handling and Lane Tracking Performance

基于线性矩阵不等式方法,设计了一种集成后轮主动转向、纵向驱动力补偿和直接横摆力矩控制的底盘集成控制系统,叫底盘鲁棒模型匹配集成控制器(R-MMC)。为全面验证底盘集成控制器对车辆操纵性能的提高,建立了基于参考向量场的驾驶员模型,并用它和R-MMC组成一个包含内、外两个环路的人-车闭环控制系统。通过驾驶员模型不参与控制下的非稳态侧风干扰试验和驾驶员模型参与控制的人-车闭环系统S弯道跟踪试验,验证了R-MMC不但能显著提高车辆的操纵稳定性和主动安全性,而且还可增强车辆的路径跟踪能力,降低驾驶员的劳动强度。

Based on the method of linear matrix inequalities, a chassis integrated control system called integrated robust model matching chassis controller （R-MMC） is designed by integrating active rear-wheel steering control, longitudinal force compensation and direct yaw moment control. To comprehensively verify the effects of chassis integrated controller on improving vehicle handling performance, a driver model is built based on reference vector field, which is then combined with R-MMC to form a driver-vehicle closed-loop system with inner and outer 2 loops. Both unsteady crosswind disturbance test without the participation of driver model and S shape winding road tracking test of driver-vehicle closed-loop system with driver model verify that R-MMC can markedly improve not only the handling stability and active safety, but also the lane tracking capability of vehicle with the labor intensity of driver lowered.