基于约束优化的四轮转向车辆主动后轮转向控制横摆角速度参考图谱生成
Constrained Optimization-Based Yaw-Rate Reference Map Generation for Active Rear Steering Control of Four-Wheel Steering Vehicles
- Cho Chun Shik Graduate School of Mobility, Korea Advanced Institute of Science and Technology (KAIST)（韩国科学技术院曹春植移动研究生院）
- Hyundai Motor Company (HMC)（现代汽车公司）
机构由 AI 辅助整理，请以论文原文为准。
AI总结：
本文针对四轮转向车辆主动后轮转向控制，提出基于约束优化的横摆角速度参考图谱生成方法，以提升低速机动性和高速稳定性，并通过数值仿真验证其有效性。
AI中文摘要：
主动后轮转向（ARS）控制在四轮转向（4WS）车辆中的有效性在汽车行业已得到广泛认可。在低速行驶时，ARS控制通过使后轮与前轮反向转向来减小转弯半径，从而增强机动性。相反，在高速行驶时，ARS控制通过使后轮与前轮同向转向来防止过度转向行为，从而提高稳定性。然而，ARS控制的性能往往受限于用于生成期望横摆角速度的参考模型，该模型通常基于前轮转向（FWS）车辆模型的稳态推导而来。本文通过构建一个约束优化问题，进行数值分析以构建用于ARS控制的最优横摆角速度参考图谱。在优化问题中，施加约束以确保车辆在稳态下运行于安全界限之内。数值仿真证明了所提方法在为ARS控制提供最优横摆角速度参考图谱方面的有效性。
英文摘要：
The effectiveness of active rear steering (ARS) control for four-wheel steering (4WS) vehicles is widely recognized in the automotive industry. At low speeds, ARS control can enhance maneuverability by steering the rear wheels in the opposite direction to the front wheels, reducing the turning radius. In contrast, at high speeds, ARS control can improve stability by steering the rear wheels in the same direction as the front wheels, preventing oversteer behavior. However, the performance of ARS control is often limited by the reference model used to generate the desired yaw rate, which is typically derived from a steady state of front-wheel steering (FWS) vehicle model. In this paper, we conduct a numerical analysis to construct an optimal yaw rate reference map for ARS control by formulating a constrained optimization problem. In the optimization problem, constraints are imposed to ensure that the vehicle operates within safe limits at steady state. Numerical simulations demonstrate the effectiveness of the proposed method in providing an optimal yaw rate reference map for ARS control.
