大连理工大学学报Issue(4)：579-585,7.
汽车弯道防侧滑／侧翻控制器设计
Sideslip/rollover avoidance controller design for vehicle driving on curve lane
摘要
Abstract
Vehicle sideslip/rollover avoidance control system is investigated for enhancing its safety on curve lane of automated highway system .A safe speed is calculated before the vehicle enters the curve lane .T he vehicle kinematics model is established and integral backstepping method is adopted to design the velocity controller during vehicle braking deceleration phase in straight lane . A virtual control variable is introduced to realize the control of curve lane′s keeping trajectory tracking .The dynamics controller is designed according to the simplified dynamics model to perform the simulation test ,which ensures that the vehicle could go through the curve lane with a desired safe speed .From the simulation results ,it is concluded that the designed controller has fast ,accurate tracking and global stability characteristics .Moreover ,it can efficiently avoid such dangerous working conditions as sideslip /rollover and potentially improve vehicle driving safety and cornering directional stability .关键词
安全辅助驾驶/侧滑/侧翻/积分反推方法/制动减速/车道保持Key words
safety driving assistant/sideslip/rollover/integral backstepping method/braking deceleration/lane keeping分类
交通工程引用本文复制引用
郭烈,黄晓慧,葛平淑,赵一兵,李琳辉..汽车弯道防侧滑／侧翻控制器设计[J].大连理工大学学报,2013,(4):579-585,7.基金项目
国家自然科学基金资助项目（61104165，61203171）；中央高校基本科研业务费专项资金资助项目（DUT13JS02）；高等学校博士学科点专项科研基金资助项目（20110041120024）． （）
