摘要
针对现有车道偏离防避系统不能适应不同驾驶风格驾驶人,车道偏离防避转向控制器设计未同时考虑车速解耦和轮胎侧偏刚度的不确定性的问题,文中基于道路环境和车辆动力学安全边界提出了车道偏离防避高性能鲁棒控制。根据车道曲率半径、不同驾驶风格下车辆行驶横向位置标准差和局部横向位置均值,设计了确定道路环境安全边界的虚拟车道模糊控制器;根据车辆2自由度模型获得了车辆动力学安全边界。建立了基于虚拟车道跨道时间(Time to Lane Crossing, TLC)和车辆动力学安全阈值的车道偏离决策准则。通过对车辆动力学模型轮胎侧偏刚度不确定边界分析设计了H∞鲁棒控制器,实现了车速解耦,利用CarSim/Simulink联合仿真验证了车道偏离纠正鲁棒性能。仿真结果表明,基于虚拟车道线和车辆动力学安全边界所设计的高性能鲁棒控制器可以及时纠正车辆偏离车道,且驾驶员接受度高。
Currently, the traditional system of lane departure avoidance cannot adapt to drivers with different driving styles, and the design of steering controller for lane departure avoidance does not take into account both velocity decoupling and uncertainty of tire corner stiffness. In this article, a method of lane departure avoidance high-performance robust control is proposed based on the road environment and the safety boundary of vehicle dynamics. According to the radius of lane curvature, the standard deviation of vehicle transverse position and the mean value of local transverse position with different driving styles, a virtual lane fuzzy controller is designed to determine the safety boundary of the road environment. The safety boundary of vehicle dynamics is worked out by means of the 2-DOF vehicle model. The lane departure decision criterion based on the virtual Time to Lane Crossing(TLC) and the safety threshold of vehicle dynamics is set up. The H∞robust controller is designed through the analysis on the uncertain boundary of tire corner stiffness in the vehicle dynamics model, in order to realize velocity decoupling;robust performance of lane departure correction is verified with the help of CarSim/Simulink co-simulation. The simulation results show that the high-performance robust controller based on the virtual lane line and the safety boundary of vehicle dynamics can correct the vehicles’ deviation from the lane in time, and the control strategy is more acceptable to drivers.
作者
许金鹏
汪选要
王建业
程义
冯鹏
XU Jin-peng;WANG Xuan-yao;WANG Jian-ye;CHENG Yi;FENG Peng(School of Mechanical Engineering,Anhui University of Science and Technology,Huainan 232001;Shaanxi Automobile Holding Group Huainan Special Purpose Vehicle Co.,Ltd.,Huainan 232008)
出处
《机械设计》
CSCD
北大核心
2023年第1期15-25,共11页
Journal of Machine Design
基金
安徽省重点研究与开发计划资助项目(1804a09020016)
安徽省自然科学基金项目(1908085ME159)
安徽省博士后研究人员科研活动经费资助项目(2020B447)。
关键词
车道偏离防避
安全边界
车辆动力学
鲁棒控制
车速解耦
lane departure avoidance
safety boundary
vehicle dynamics
robust control
velocity decoupling
