河南科技大学学报（自然科学版）2026，Vol.47Issue(2)：11-19,9.DOI:10.15926/j.cnki.issn1672-6871.2026.02.002
基于路面附着系数估计的汽车横摆力矩控制
Vehicle Yaw Moment Control Based on Road Friction Coefficient Estimation
摘要
Abstract
To address the issue of poor vehicle driving stability on roads with varying friction coefficients and the difficulty in estimating them quickly and accurately,a direct yaw moment control(DYC)method that incorporates road friction coefficient estimation was proposed.This approach aims to enhance the control performance of the yaw moment.A seven-degree-of-freedom vehicle dynamics model was established based on Dugoff tire model,and a road friction coefficient estimator was designed according to the unscented Kalman filter(UKF)algorithm.A model predictive control(MPC)algorithm was adopted to calculate the additional yaw moment,thereby improving the vehicle's driving stability on roads with different friction coefficients.To validate the effectiveness of the proposed control strategy,simulation tests under various road friction conditions were designed using a Carsim and Simulink co-simulation platform.The results demonstrate that under the sine-steering maneuver on a split-friction road,the peak errors of the sideslip angle and yaw rate are controlled within 0.001 75 rad and 0.007 85 rad/s,respectively.Compared with(proportional-integral derivative,PID)and linear quadratic requlator(LQR)controls,the peak values are reduced by 14.2%and 8.2%,respectively,effectively overcoming the control challenges posed by sudden changes in road friction.关键词
附加横摆力矩/稳定性控制/路面附着系数/模型预测控制/无迹卡尔曼滤波Key words
additional yaw moment/stability control/road adhesion coefficient/model predictive control/unscented Kalman filter分类
交通工程引用本文复制引用
闫俊达,阎春利..基于路面附着系数估计的汽车横摆力矩控制[J].河南科技大学学报（自然科学版）,2026,47(2):11-19,9.基金项目
国家自然科学基金项目(5217050357) （5217050357）
