基于保性能模型预测控制的轮胎参数不确定车辆稳定性驾驶辅助系统
Guaranteed Cost Model Predictive Control-based Driver Assistance System for Vehicle Stabilization Under Tire Parameters Uncertainties
摘要：
道路交通事故一直是青年人死亡的主要原因。大多数事故发生在驾驶员分心和失控的情况下。最近提出了线控转向系统作为减轻此类事故的替代方案。该技术使得前轮转向角度与驾驶员手轮角度解耦，从而测量道路/轮胎摩擦极限，并开发能够确保车辆稳定性和安全性的新型控制系统。然而，车辆安全边界高度依赖于轮胎特性，这些特性随着温度、磨损和轮胎制造过程而显著变化。因此，自动驾驶车辆和驾驶员辅助控制器的设计不能假设这些特性是恒定的或已知的。因此，本文提出了一种保成本模型预测控制器驾驶员辅助系统，能够避免前后轮胎饱和，并跟踪驾驶员的意图，以处理不确定的轮胎参数的车辆的限制。仿真结果表明，所提出的方法下随时间变化的均匀分布的干扰的性能。
英文摘要：
Road traffic crashes have been the leading cause of death among young people. Most of these accidents occur when the driver becomes distracted and a loss-of-control situation occurs. Steer-by-Wire systems were recently proposed as an alternative to mitigate such accidents. This technology enables the decoupling of the front wheel steering angles from the driver hand wheel angle and, consequently, the measurement of road/tire friction limits and the development of novel control systems capable of ensuring vehicle stabilization and safety. However, vehicle safety boundaries are highly dependent on tire characteristics which vary significantly with temperature, wear and the tire manufacturing process. Therefore, design of autonomous vehicle and driver assistance controllers cannot assume that these characteristics are constant or known. Thus, this paper proposes a Guaranteed Cost Model Predictive Controller Driver Assistance System able to avoid front and rear tire saturation and to track the drivers intent up to the limits of handling for a vehicle with uncertain tire parameters. Simulation results show the performance of the proposed approach under time-varying uniformly distributed disturbances.
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