合肥工业大学校徽

合肥工业大学学报自科版

合肥工业大学学报(自然科学版)

JOURNAL OF HEFEI UNIVERSITY OF TECHNOLOGY (NATURAL SCIENCE)

主管：中华人民共和国教育部

主办：合肥工业大学

ISSN 1003-5060, CN 34-1083/N

基于预瞄时间自适应的爆胎车辆横向控制

Lateral control of flat tire vehicle based on adaptive preview time

期刊信息

合肥工业大学（自然科学版），2023年9月，第46卷第9期：1160-1165，1177

DOI: 10.3969/j.issn.1003-5060.2023.09.002

作者信息

孔慧芳，曹诚，张倩

（合肥工业大学电气与自动化工程学院，安徽合肥230009）

摘要和关键词

摘要: 针对汽车在高速行驶过程中突然爆胎极易引发严重交通事故的问题,文章提出一种基于预瞄时间自适应的爆胎车辆横向控制方法。在单点预瞄驾驶员模型的基础上,提出一种预瞄时间自适应算法,通过预测未来一段时间内不同预瞄时间的车辆运行状况,将道路边界约束添加为约束条件设计优化函数,选取合适的预瞄时间,提高车辆的行驶稳定性;采用滑模控制理论设计主动转向控制器,根据爆胎前、后横摆角速度偏差对车辆前轮转角进行补偿,以解决爆胎导致的车辆横向偏航问题。在CarSim与Simulink联合仿真平台下进行的仿真验证结果表明,该文提出的控制方法可以使爆胎车辆基本保持在原路径上行驶,有效提高了车辆的稳定性和安全性。

关键词: 爆胎；预瞄时间自适应；滑模变结构；横向控制；前轮转角

Authors

KONG Huifang, CAO Cheng, ZHANG Qian

(School of Electrical Engineering and Automation, Hefei University of Technology, Hefei 230009, China)

Abstract and Keywords

Abstract: In order to solve the problem that sudden tire burst can easily lead to serious traffic accidents in the process of high-speed driving, a lateral control strategy of tire burst vehicle based on adaptive preview time is proposed. Based on the single-point previewing driver model, an adaptive algorithm of previewing time was proposed. By predicting vehicle operating conditions with different previewing time in the future and considering the constraints of road boundary, the algorithm was added as a design optimization function to select appropriate previewing time and improve vehicle driving stability. The active steering controller was designed based on sliding mode control theory, and the front wheel angle was compensated according to yaw velocity deviation before and after tire burst, which effectively solved the lateral yaw problem caused by tire burst. Simulation verification was carried out on Car-Sim and Simulink co-simulation platform. The results show that the proposed control method can keep the vehicle with flat tire basically on the original path, and effectively improve the vehicle stability and safety.

Keywords: tire burst; adaptive preview time; sliding mode variable structure; lateral control; front wheel angle

基金信息

安徽省科技攻关计划资助项目（JZ2021AKKG0310）

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