摘要
为了改善分布式驱动电动汽车的操纵稳定性,并考虑不同驾驶人的驾驶风格,针对主动四轮转向(AFWS)和直接横摆力矩控制(DYC)系统,提出基于分层架构的考虑驾驶风格的协调控制策略,包含上、中、下3层控制器.在上层控制器建立考虑驾驶风格的操纵稳定性参考模型,通过驾驶人在环试验确定不同驾驶风格的车辆稳定性因数,并依据相平面理论将车辆工作区间划分为稳定域、过渡域与失稳域;在中层控制器建立基于Stackel-berg主从博弈和Pareto合作博弈的AFWS和DYC混合博弈控制模型,提高车辆在复杂行驶工况下的操纵稳定性;在下层控制器以轮胎负荷率最小化为目标,优化车轮驱动转矩分配.利用Simulink仿真软件和罗技G29驾驶模拟器搭建驾驶人在环试验平台,进行驾驶人开环和在环试验,结果表明,提出的控制策略能够适应不同驾驶人的驾驶风格,满足其个性化需求,从而提高了车辆的操纵稳定性.
A hierarchical architecture coordinated control strategy considering driving styles for active four-wheel steering(AFWS)and direct yaw moment control(DYC)systems was proposed to improve the handling stability of distributed drive electric vehicles and accommodate the driving styles of different drivers.This strategy employed a three-layer control architecture,including the upper controller,the middle controller,and the lower controller.A reference model for handling stability considering driving styles was established in the upper controller.The stability factors of vehicles with different driving styles were determined through driver-in-the-loop experiments,and the vehicle states were categorized into stable,transitional,and unstable regions based on the phase plane theory.A hybrid game control model for AFWS and DYC based on Stackelberg leader-follower game and Pareto cooperative game was established in the middle controller to improve the vehicle’s handling stability under complex driving conditions.The lower controller was used to optimize the wheel drive torque distribution with the goal of minimizing the tire load rate.The driver-in-the-loop test platform was built based on the Simulink simulation software and the Logitech G29 driving simulator,and open-loop and in-loop tests with drivers were conducted.The results indicated that the proposed control strategy can adapt to the driving styles of different drivers and meet their personalized needs,thereby improving the vehicle’s handling stability.
作者
王姝
张海川
虢沧岩
赵轩
郭慧鑫
WANG Shu;ZHANG Haichuan;GUO Cangyan;ZHAO Xuan;GUO Huixin(School of Automobile,Chang’an University,Xi’an 710000,China)
出处
《浙江大学学报(工学版)》
北大核心
2025年第9期1942-1953,共12页
Journal of Zhejiang University(Engineering Science)
基金
国家自然科学基金资助项目(52472397,52372375)
陕西省重点研发计划资助项目(2024GX-YBXM-260)
陕西省科技成果转化计划资助项目(2024CG-CGZH-19).
关键词
分布式驱动电动汽车
驾驶风格
主动四轮转向
直接横摆力矩
相平面
distributed drive electric vehicle
driving style
active four-wheel steering
direct yaw moment
phase plane
