极限工况下人机共驾转向稳定性容错控制研究

Stability fault-tolerant control of human-machine shared steering under extreme conditions

针对车辆驾驶员由于转向能力不足或转向负荷过大所造成的转向错误,设计了一种容错控制算法。该算法通过设置驾驶员轨迹误差的阈值,执行从驾驶员控制到自动驾驶控制的平滑切换。为解决车辆在极限工况下轨迹跟踪的安全性与稳定性问题,采用局部轨迹规划和模型预测控制实现了车辆轨迹跟踪;分析质心侧偏角与横摆角速度获得车辆行驶稳定性边界。经搭建的驾驶员在环模拟器进行验证,结果表明,该容错控制算法能实现从有人驾驶到自动驾驶的平滑切换,在跟踪轨迹的同时能够保证车辆的行驶稳定性。

A fault-tolerant control algorithm was designed to compensate the steering fault caused by driver’s inability of steering or overloaded workload.The algorithm set the threshold of trajectory tracking error to ensure the stability and safety of vehicle under extreme conditions,local path planning and MPC were applied to realize vehicle trajectory tracking and slip angle and yaw rate,and slip angle and yaw rate were analyzed to obtain the stability boundary of vehicle.After the experiment of DIL simulator,the results showed that the system was able to realize the smooth takeover of the automated system and ensure the stability while tracking the path.