基于横向安全评估的智能客车防侧翻自主决策控制研究

Research on Autonomous Decision Control System for Anti-rolling Over of Intelligent Bus Based on Lateral Safety Evaluation

为防止无人客车智能域因参数标定误差、网络攻击等发出指令致使车辆侧翻,提出了一套基于横向安全评估的智能客车防侧翻自主决策控制系统。首先建立了车辆三自由度线性模型,并基于卡尔曼滤波进行了状态重构;其次在横向载荷转移率(Lateral-Load Transfer Rate,LTR)基础上推导出预测LTR并作为侧翻指标,同时进行了敏感量分析;然后采用了考虑路面附着系数的主动转向和全轮制动的联合控制方案,将即将失稳时的LTR稳定在设定阈值附近;最后进行仿真验证。结果表明,所设计的联合控制算法在极端工况下不仅保证客车不侧翻,且相比于纯转向控制,联合控制能在一定程度上降低路径跟踪偏差。

In order to prevent vehicle rolling over due to parameter calibration errors and network attacks in the intelligent domain of unmanned bus, an autonomous decision control system for anti-rolling over of intelligent vehicle was proposed based on lateral safety evaluation. Firstly, a three-degree-of-freedom linear model of the vehicle was established and its states were reconstructed. Secondly,based on the Lateral Load Transfer Rate(LTR), predicted LTR was derived and used as the rolling index, and the sensitive quantity analysis was carried out. Then, the combined control scheme of active steering and all-wheel braking considering the road adhesion coefficient was adopted to stabilize the LTR near the set threshold. Finally, the simulation results show that the proposed joint control algorithm can not only ensure that the vehicle does not roll over under extreme conditions, but also reduce the path tracking deviation to a certain extent compared with pure steering control.