基于 Lyapunov 和协调控制的车辆稳定区域建模与分析

Minghao Zhang, Xiaojian Wu, Jiansheng Liu, Aichun Wang, Huihua Jiang
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引用次数: 0

摘要

辅助驾驶系统的及时干预是提高车辆操控稳定性和侧倾稳定性的关键,而车辆稳定区域是确定辅助驾驶系统干预时机的核心依据。为了对车辆稳定区域进行建模和分析,本文建立了包括偏航、侧倾和横向运动在内的三自由度(3-DOF)车辆动力学模型以及非线性魔术配方轮胎模型。在此基础上,建立了简化但改进的立方轮胎模型,以在更大的滑移角范围内精确拟合 Magic Formula 轮胎模型的轮胎侧向力。随后,利用 Lyapunov 方法分别构建了滚动稳定区域和偏航稳定区域,并在 Matlab/Simulink 环境下对所建立的稳定区域进行了精度验证和鲁棒性分析。最后,在不跟踪特定车辆状态目标的情况下,采用无模型自适应控制方法将车辆状态保持在稳定区域内。本文的研究可为稳定性边界的确定、辅助驾驶稳定性控制干预时机的制定,以及车辆稳定性与防侧翻的协调控制提供理论支持,并具有局部兼容性甚至冲突性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Modeling and analysis of vehicle stability region based on Lyapunov and coordinated control
The timely intervention of the assisted driving system is the key to improving the handling stability and roll stability of the vehicle, and the vehicle stability region serves as the core basis for determining the intervention timing of the assisted driving system. With the aim of modeling and analyzing the vehicle stability region, a three-degree-of-freedom (3-DOF) vehicle dynamics model including yaw, roll, and lateral motions, as well as a nonlinear Magic Formula tire model are established in this paper. Based on this, a simplified but improved cubic tire model is developed to accurately fit the tire lateral force of Magic Formula tire model within a larger range of slip angles. Subsequently, using the Lyapunov method, the roll stability region and the yaw stability region are respectively constructed, and the accuracy verification and robustness analysis of the established stability region are conducted in the Matlab/Simulink environment. Finally, a model-free adaptive control method is employed to keep the vehicle state within the stability region, without tracking specific vehicle state objectives. The study in this paper can provide theoretical support for stability boundary determination, formulation of intervention timing for assisted driving stability control, and coordination control of vehicle stability and anti-rollover with local compatibility or even conflicts.
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