湖南大学学报（自然科学版）2026，Vol.53Issue(2)：1-13,13.DOI:10.16339/j.cnki.hdxbzkb.2026151
考虑制动时滞的智能汽车稳定性控制方法
Stability control method for intelligent vehicle considering braking delay
摘要
Abstract
Braking delays caused by factors such as information perception,controller operation,and actuator gaps can induce instability in direct yaw moment control(DYC).To address this issue,a stability control method that accounts for braking delay is proposed.Firstly,the delay and lagprocess of the braking command is performed using a first-order inertia and pure delay link.Then,the actual yaw moment is introduced as a state quantity into the traditional DYC upper-level controlled system.Using state augmentation,the upper-level delay control system is transformed into an equivalent delay-free system without explicit delay.The equivalent yaw moment is then solved through the linear quadratic regulator(LQR)algorithm.Meanwhile,to further enhance the delay robustness of the controller,a prediction method is introduced in the lower-level control of DYC to predict the vehicle's steering state after a series of control inputs in the future,and a new braking strategy is proposed in combination with the traditional braking strategy.Finally,simulation experiments based on a 7-degree-of-freedom dynamic model show that the designed controller can quickly stabilize the yaw rate tracking error at around 0 under braking delay,and the braking frequency and braking force are also reduced overall in the simulation time domain.In a double lane change scenario at the same initial speed,the car with new controller can pass through with a higher speed overall,and the lateral deviation angle of the center of mass in the straight section can quickly converge to zero,comprehensively verifying that the designed controller has high delay robustness.关键词
直接横摆力矩控制/线性二次调节/制动时滞/状态预测Key words
direct yaw moment control(DYC)/linear quadratic regulator(LQR)/braking delay/state prediction分类
交通工程引用本文复制引用
周兵,韦文豪,潘倩兮,姜笑坤,崔庆佳..考虑制动时滞的智能汽车稳定性控制方法[J].湖南大学学报（自然科学版）,2026,53(2):1-13,13.基金项目
国家自然科学基金资助项目(52202466),National Natural Science Foundation of China(52202466) （52202466）
