转向制动联合的线控转向汽车防侧翻控制研究

Research on Anti-Rollover Control Combined Steering and Braking of Steer-by-Wire Vehicle

针对线控转向汽车有发生侧翻危险,不能同时兼顾防侧翻控制与路径保持控制的问题,本文提出了一种基于线控转向系统的主动转向和差动制动的联合防侧翻控制策略。根据车身横向载荷转移率LTR的值判断发生侧翻危险的程度,计算出主动转向和差动制动作用的权值大小,从而得到附加前轮转角和制动力矩的大小。利用dSPACE硬件在环实验对控制策略进行了验证,实验结果表明这里提出的联合控制方法,能够使车辆在保持侧向稳定性的同时,较好地保持行车路径。

In view of the rollover hazard of steer-by-wire vehicle,which can not take both rollover control and path maintenance control into account,a joint anti-rollover control strategy based on active steering and differential braking of steer-by-wire system is proposed in this paper.According to the value of LTR,the degree of rollover risk is judged.The weights of active steering and differential braking are calculated.The additional front wheel angle and braking torque are obtained.The control strategy is validated by dSPACE hardware in the loop experiment,the experimental results show that the joint control method proposed in this paper can keep the lateral stability of the vehicle while maintaining the driving path better.