考虑车辆横摆及侧倾稳定性的智能车辆纵垂向集成控制技术研究

Research on intelligent vehicle longitudinal-vertical integrated control technology considering vehicle yaw and roll stability

为解决现有针对车辆某一控制需求设计的单维度控制系统无法满足高速行驶安全需求的问题,提出一种考虑车辆横摆及侧倾稳定性的智能车辆集成控制策略。分析车辆横摆稳定性边界和侧倾稳定性阈值,以横摆角速度、侧倾角速度和横向载荷转移率等参数作为车辆行驶稳定性评价指标,引入横向补偿横摆力矩和垂向控制权重分配参数,对智能车辆的纵向制动力矩及垂向主动悬架力进行分配,并通过仿真验证集成策略效果。结果表明,所设计的纵垂向集成控制策略能够实现整车横摆及侧倾稳定性的提升,并提高智能车辆在轨迹跟踪过程中的跟踪精度,有效改善车辆行驶安全性和舒适性。

To address the limitation of existing single-dimensional control systems designed for specific vehicle control requirements that fail to meet the safety demands during high-speed driving,an intelligent vehicle integrated control strategy considering both yaw and roll stability was proposed.The strategy involves analyzing the boundaries of vehicle yaw stability and the threshold of roll stability,utilizing parameters such as yaw rate,roll rate,and Lateral-Load Transfer Rate(LTR)as evaluation criteria for vehicle stability.It introduced lateral compensation yaw moment and vertical control weight distribution parameters to allocate the longitudinal braking moment and vertical active suspension force of the intelligent vehicle.Through simulation validation,the results demonstrated that the designed longitudinal-vertical integrated control strategy could enhance the overall yaw and roll stability of the vehicle,improve the tracking accuracy of the intelligent vehicle during trajectory tracking,and effectively enhance vehicle safety and comfort during driving.