基于汽车驾驶模拟器弯道稳定性控制研究

Research on Vehicle Braking Stability Control in Turn Based on Driving Simulator

汽车弯道制动时轮胎处于复杂非线性极易失去稳定性。对汽车在弯道制动时的动力学特点和车辆状态参数变化轨迹的研究,利用差动制动方式进行转向制动工况下的稳定性控制。以改变车轮滑移率为目标的门限值控制方法、滑移率最优的模糊控制策略来控制弯道制动时制动力的大小,使其产生相应的横摆力矩来调整汽车的运行状态。应用CarSim软件与MATLAB/Simulink软件建立了汽车实时联合仿真模型,通过驾驶模拟器硬件在环试验台,分别在高附着路面和低附着路面进行了仿真,获得反应车辆弯道行驶稳定性的状态参数。结果表明,有弯道控制的汽车一直稳定行驶在预定的轨道内,直到汽车制动停止,有效提高了汽车在弯道制动时的稳定性。

Vehicle stability is easy to lose for complex nonlinear on turn braking. The dynamic characteristics and the parameters trajectory of vehicle were studied,stability was controlled by differential braking method on turn braking. The threshold control method aiming at changing the wheel slip ratio,and the optimal slip ratio fuzzy control strategy were used to control the braking force on turning braking,and the corresponding yaw moment was used to adjust the vehicle running state. Using Car Sim software and MATLAB/Simulink software,a real-time joint simulation model of vehicle was established. By driving simulator in the loop test stand,the simulation was carried out on both high adhesion road and low attached road,and the condition parameters of the running stability were obtained. The results show that the car with curve control has been steadily moving in the scheduled track until the brake stop,effectively improving the stability of the car in the curve braking.