极限工况下车道保持系统的行驶稳定性研究

车道保持控制系统可以辅助驾驶员对车辆的操纵,避免其发生偏离车道、碰撞障碍物等危险情况,通常认为该系统工作在轮胎的线性区段.然而,车道保持中的关键控制变量(方向偏差和侧向偏差)与车辆稳定性关系密切,能够在极限工况下起到稳定车辆的作用.为此,设计了基于人工势场法的车道保持控制算法,在线性车辆模型的基础上将线性轮胎模型扩展为非线性轮胎模型.仿真结果表明,当车辆受到突然的转向干扰时,车道保持控制算法在极限工况下依然能使车辆有效跟踪目标路径,并且保持车辆的稳定性.

Stability Potentials of Lanekeeping Control System at Critical Driving Conditions

A lanekeeping control system intends to aid driver in order to avoid such risky situations as lane departure and obstacle collision.The lanekeeping control system usually works in the linear area of normal tires.However,two key control variables of lanekeeping control,i.e., heading error and lateral error,have close relationship with vehicle stability.The successful control of these two variables can exert a stabilizing influence on vehicle yaw dynamics in critical situations.A lanekeeping algorithm was proposed based on the artificial potential field method,and then the linear tires models were extended to nonlinear ones on the basis of the linear vehicle model.The simulation results demonstrate that under the abrupt disturbance of steering,the lanekeeping algorithm enables the vehicle follow the planned path and provides a stabilizing influence on vehicle yaw motion even at critical driving conditions.