低附着路况条件下人车共享转向系统稳定控制

Stability control of human-vehicle shared steering system under low adhesion road conditions

针对冰雪天气车辆更容易失稳的情况,研究了低附着、不对称路面情况下车辆对参考路径的稳定跟踪问题,同时考虑了驾驶员与智能控制器的协同共享,讨论了共享方式和驾驶权分配,以提高车辆在冰雪路面复杂路况下的跟踪精度和转向稳定性,保证驾驶员的驾驶体验。此外,建立了左右轮不对称的适用于冰雪路面的车辆模型,并确定了将冰雪路面下车辆转向稳定性约束作为后续模型预测控制求解的一部分,在人车共享结构下,基于模糊推理权重分配策略设计了共享转向模型预测控制器。Simulink/CarSim联合仿真验证了本文控制系统能有效提高车辆跟踪精度和行驶稳定性。

Aiming at the problem that the vehicle is more prone to instability in ice and snow weather,the stable tracking of the vehicle to the reference path is studied under the condition of low adhesion and asymmetric road surface.At the same time,considering the cooperative sharing between the driver and the intelligent controller,the sharing mode and driving right allocation is discussed,so as to improve the tracking accuracy and steering stability of the vehicle under the complex road conditions of ice and snow road and ensure the driving experience of the driver.A vehicle model with asymmetric left and right wheels for snow and ice road surface is established.And the vehicle steering stability constraint under ice and snow pavement is determined as a part of the subsequent model predictive control solution.The human-vehicle sharing structure based on model prediction and fuzzy weight allocation strategy is established and the shared steering controller is designed.Simulink/CarSim co-simulation verifies that the designed control system can effectively improve vehicle tracking accuracy and driving stability.