半挂汽车TTR预警及防侧翻控制

为及时提醒驾驶员半挂汽车的侧翻危险状态并对车辆的侧翻危险状态进行控制,以TruckSim中的半挂汽车作为真实车辆,考虑汽车运行过程中的过程噪声以及量测噪声,利用Kalman滤波技术实时估计半挂汽车的运行状态。以车辆的横向载荷转移率为侧翻指标,建立了基于模型预测的TTR(time-to-rollover)侧翻预警算法,并结合最优控制算法,制定了基于TTR侧翻预警的防侧翻控制策略。通过仿真分析,此控制策略可以有效提醒驾驶员半挂汽车的侧翻危险状况,并有效控制半挂汽车的侧翻危险状态,防止侧翻危险的发生。

TTR warning and anti-rollover control for semi-trailer

In order to warn drivers of rollover threat states of semi-trailer and control the states in time,the current motion states of semi-trailer were estimated in real time by using Kalman filtering technique.Meanwhile,we treated semi-trailer in TruckSim as a real vehicle and took the process noise and measurement noise into consideration.Then a TTR (time-to rollover) rollover warning algorithm associated with model prediction was established by determining vehicle lateral load transfer rate as the rollover threat index.In addition,through combining with optimal control algorithm,anti-rollover control strategy was developed based on TTR rollover warning algorithm.Simulations show the proposed control strategy can warn drivers effectively of the dangerous situation,and control rollover threat states of semi-trailer to prevent rollover.