操稳性控制介入时的驾驶员干扰与补偿控制

Driver interference and compensation control when stability control intervenes

针对差速制动系统稳定性控制介入产生车辆瞬态响应突变,使驾驶员主观不适应这一“人”的因素,以及车辆横摆-侧向稳定性动力学与转向系统操纵动力学耦合影响这一“车”的因素,共同引起驾驶员不当操作,对控制系统形成强烈干扰的问题,重点考虑差速制动操稳性控制与转向系统操纵动力学的耦合特性,建立“纵向-侧向-横摆-转向操纵”非线性动力学模型,研究差速制动介入情况下,因动力学系统复杂耦合作用这一“车”的因素导致的驾驶员反馈干扰形成机理,分析并量化驾驶员保持正常驾驶时的转向操纵力矩可能导致的方向盘转角干扰输入.最后,为助力转向系统设计补偿控制策略以消除差速制动操稳性控制主动介入后对转向操纵动力学的耦合影响.

In response to the abrupt changes in vehicle transient response caused by the intervention of differential braking control(DBC)system for stability control,the driver's subjective inadaptability of"human"factor,and the coupling relationship between vehicle yaw-lateral dynamics with steering system handling dynamics belonging to"vehicle"factor,jointly cause driver's improper operation which interferes with the control system strongly.Focusing on the coupling characteristics of differential braking control and steering system handling dynamics,a"longitudinal-lateral-yaw-steering"nonlinear dynamics model was established,and when the differential braking intervenes,the formation mechanism of driver's feedback interference caused by the"vehicle"factor under the complex coupling effect between the dynamic systems was analyzed.Then,the interference input of the steering wheel angle was analyzed and quantified if the driver maintains the steering torque input during normal driving.Finally,a compensation control strategy was designed for the electric power steering to eliminate the coupling effect of the steering dynamics after the active intervention of the differential braking control stability control.