现代雷达2025，Vol.47Issue(6)：62-68,7.DOI:10.16592/j.cnki.1004-7859.20240522001
超声波雷达测距下的车辆线控转向稳定性模糊控制
Fuzzy Control of Vehicle Steer-by-wire Stability under Ultrasonic Radar Ranging
摘要
Abstract
Addressing the issue of distance detection distortion caused by visual sensor blind zones and enhancing the vehicle stabil-ity of the steer-by-wire system under chaotic factors,a fuzzy control method based on ultrasonic radar ranging is proposed.The safety distance is measured by ultrasonic radar,with the ultrasonic velocity and time being corrected during ranging.The current response state of the steer-by-wire system is determined by using a two-degree-of-freedom model to estimate the yaw rate and center of mass sideslip angle with safety distance as the constraint condition.A fuzzy controller is utilized,where the errors and error rates between the ideal and actual values of the vehicle's safety distance,yaw angle,and sideslip angle monitored by the radar are input-ted,and the control parameters of the steering system are adjusted in real-time through fuzzy rules to achieve stability control under ultrasonic radar ranging.Simulation results demonstrate that the distance measurement results of the ultrasonic radar after parame-ters correction are more accurate;the proposed method exhibits extremely low overshoot and response time when applied to the steer-by-wire system;the difficulty of vehicle stability control increases with vehicle speed,and the proposed method can follow the speed to change the transmission ratio of vehicle steering,ensuring the safety of vehicle steering.关键词
超声波雷达/线控转向/稳定性/模糊控制/安全距离测量Key words
ultrasonic radar/steer-by-wire/stability/fuzzy control/safe distance measurement分类
交通工程引用本文复制引用
范珍珍,樊富起..超声波雷达测距下的车辆线控转向稳定性模糊控制[J].现代雷达,2025,47(6):62-68,7.基金项目
江西省教育厅科技资助项目(GJJ212005) （GJJ212005）
