汽车直接横摆力矩控制系统综述

Review of Direct Yaw Moment Control System for Automobile

汽车直接横摆力矩控制(direct yaw moment control,DYC)系统用于有效避免车辆遇到非预计危险时的侧向运动,以保证汽车运行的稳定性和驾驶的安全性。目前,DYC系统大多采用分层结构。文章首先从车辆状态估计与环境感知、直接横摆力矩控制器设计和力矩分配法这3个角度分析了汽车DYC系统架构,接着重点阐述了其对车速、车间距离、路面信息、横摆角速率以及车辆质心侧偏角等状态信息的获取与处理方法;然后介绍了上层控制器中车辆动力学参考模型、控制结构及不同变量控制的设计方法以及下层控制器中车辆横摆力矩的分配方式;最后总结了汽车直接横摆力矩控制系统现存的问题以及将来发展的方向。

Direct yaw moment control(DYC)system is used to effectively prevent the vehicle from moving sideways in the event of unexpected dangers in order to ensure stability and safety of automobile driving.The currently DYC systems are mostly in a hierarchical structure.This paper starts with an analysis on the DYC system's architecture from three perspectives:automobile state estimation and environmental perception,direct yaw moment controller design and moment distribution method.The focus then shifts to the acquisition and processing methods of state information,such as automobile speed,vehicle-to-vehicle spacing,road surface information,yaw rate,vehicle centroid sideslip angle.It also presents a reference model for vehicle dynamics,control structure and design methods for controlling different variables as the upper-level controllers;the distribution method of vehicle yaw moment in the lower-level controller are then presented.It is concluded with summary on some existing issues in the DYC systems and their future development trends.