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汽车安全与节能学报

JASE ›› 2018, Vol. 9 ›› Issue (3): 272-280.DOI: 10.3969/j.issn.1674-8484.2018.03.005

• 汽车安全 • 上一篇    下一篇

对开路面汽车紧急制动的稳定性控制

李卫兵1，吴 琼1，王翔宇2，李 亮2   

  1. （1. 安徽江淮汽车集团股份有限公司技术中心，汽车智能网联技术安徽省重点实验室，合肥 230601，中国；2. 清华大学 汽车安全与节能国家重点实验室，北京 100084，中国）
  • 收稿日期:2018-03-18 出版日期:2018-09-30 发布日期:2018-10-08
  • 作者简介:李卫兵(1979—)，男( 汉)，湖北，高工。E-mail: liweibing.jac@163.com。
  • 基金资助:

    国家自然科学基金优秀青年基金资助项目(51422505) ；国家重点研发计划资助项目(2017YFB0103502)。

Vehicle stability control of urgent braking on split-μ road

LI Weibing1, WU Qiong1, WANG Xiangyu2, LI Liang2   

  1. (1. Technical Center, Anhui Jianghuai Automobile Group Co Ltd., Automobile Intelligent and Network Technology Key Laboratory of Hefei 230601, China; 2. State Key Laboratory of Automotive Safety and Energy, Tsinghua University, Beijing, 100084, China)
  • Received:2018-03-18 Online:2018-09-30 Published:2018-10-08

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摘要：

       为了保持汽车在对开路面上进行紧急制动时的稳定性，提出了一种基于模型预测控制(MPC)的主动前轮转向(AFS) 辅助控制技术。搭建了七自由度整车动力学模型，利用魔术公式建立轮胎模型。给出了控制模型，利用MPC 方法，设计了AFS 控制器。进行了Simulink-Carsim 联合仿真。对于车辆在对开路面上紧急制动的工况，将本方法与其他方法的仿真测试对比。结果表明：在不改变原有的制动防抱死控制(ABS) 控制逻辑的前提下，有AFS 调控车辆横向跑偏0.49 m，而无AFS 调控车辆横向跑偏1.64 m。因而，本方法能够抑制对开路面上紧急制动时汽车的跑偏，保证汽车的稳定性。

关键词: 汽车安全, 稳定性控制, 主动前轮转向(AFS), 模型预测控制(MPC), 制动防抱死控制(ABS), 对开路面

Abstract:

Proposed an active front steering (AFS) control method based on a model predictive control (MPC) to keep vehicle stability when a vehicle brakes urgently on a split-μ road. Built a 7- dimension of freedoms (DOF) vehicle dynamic model and a tire model by using Magic Formula to design an AFS controller based on the
MPC using a control model formulated with making a co-simulations of the soft wares of Simulink and Carsim. Moreover, the simulation results compared between deferent control-methods for vehicle brakes urgently on a split-μ road. The results show that lateral excursion with the AFS control is 0.49 m, while the lateral excursion without the AFS control is 1.64 m at the condition with no changes to the original antilock brake system (ABS) control. Therefore, the proposed method can restrain the vehicle off tracking to keep the vehicle stability when braking on split-μ road.

Key words: automobile safety, stability control, active front steering (AFS), model predictive control (MPC), antilock brake system (ABS), split-&mu, road