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主动转向与差动制动协同作用车辆稳定性控制

杜 峰1，关志伟1，高博麟2，戴金钢 2，魏 朗3     

  1. （1. 天津职业技术师范大学 汽车与交通学院，天津 300222，中国； 2. 中国汽车技术研究中心，天津 300300，中国；3. 长安大学 汽车学院，西安 710064，中国）  
  • 收稿日期:2017-11-28 出版日期:2018-03-31 发布日期:2018-04-10
  • 作者简介:杜峰（1970—），男（汉），河南，副教授。E-mail: dufengwy@163.com。
  • 基金资助:

    天津市自然科学基金重点项目(16JCZDJC38200) ；天津市科技创新平台计划（16PTGCCX00150）。

Vehicle stability control based on synergistic effect of active steering and differential braking  

DU Feng1, GUAN Zhiwei 1, GAO Bolin 2, DAI Jingang 2, WEI Lang 3     

  1. (1. School of Automobile and Transportation, Tianjin University of Technology and Education, Tianjin 300222, China; 2. Automotive Technology and Research Center, Tianjin 300300, China; 3. School of Automobile, Chang’an University, Xi’an 710064, China)  
  • Received:2017-11-28 Online:2018-03-31 Published:2018-04-10

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摘要：

       考虑到轮胎侧向力饱和情况下转向控制对车辆稳定性改善有限的局限，为进一步增加车辆转向横摆力矩的裕度，提出了主动后轮转向与单侧车轮差动制动协同作用的车辆稳定性控制策略；设计了后轮主动转向最优跟随控制器和车辆稳定性模糊控制器，提出了利用模糊控制隶属函数的形式分辨各自控制任务的协调方案。研究表明：在危险工况下，基于主动转向与差动制动协同作用的车辆稳定性控制系统能有效避免车辆失稳情况的过早发生，其控制效果优于单独的主动转向控制。       

关键词: 车辆安全, 汽车稳定性, 主动转向, 差动制动, 协调控制, 动态仿真  

Abstract:

Considering the limitation by steering control to improve vehicle stability when the lateral tire force is saturated, a new stability control strategy was proposed to further increasing the margin of steering yaw moment of vehicle based on the synergy of rear-wheel active steering and unilateral-wheel differential braking.
An active steering optimum controller of the rear-wheels and a stability fuzzy controller were designed, and the coordination scheme between them was introduced to distinguish each control tasks by using membership function of fuzzy control. The results show that the control system designed for vehicle stability can effectively avoid the occurrence of instability under dangerous conditions, its control effect is better than independent active steering control. 

Key words: vehicle safety, vehicle stability, active steering, differential braking, collaborative control, dynamics simulation