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首页> 外文会议>ASME Dynamic Systems and Control Conference >LANEKEEPING AT THE LIMITS OF HANDLING: STABILITY VIA LYAPUNOV FUNCTIONS AND A COMPARISON WITH STABILITY CONTROL
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LANEKEEPING AT THE LIMITS OF HANDLING: STABILITY VIA LYAPUNOV FUNCTIONS AND A COMPARISON WITH STABILITY CONTROL

机译：在处理限制的限制：通过Lyapunov功能的稳定性和与稳定性控制的比较

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摘要

Lanekeeping assistance systems and stability control systems both seek to control the yaw behavior of the vehicle. However, lanekeeping systems are typically thought of as linear systems, while stability control systems are explicitly designed to work at the limits of handling. In order to bring these two systems together, there is a need to investigate lanekeeping up to and beyond the limits of handling. This paper presents a nonlinear tire model suitable for analyzing the behavior of a lanekeeping system at all points along the tire curve and a method for finding common quadratic Lyapunov functions to prove stability. The results show that the lanekeeping system is stable well into the nonlinear tire region. This stability holds even under changes in the lanekeeping gain and the understeering/oversteering characteristics of the vehicle. The results suggest that future safety systems could benefit from incorporating integrated lanekeeping and stability control functionality.
机译：巷道辅助系统和稳定性控制系统都试图控制车辆的偏航行为。然而，巷子管理系统通常被认为是线性系统，而稳定性控制系统明确地设计用于处理处理的限制。为了将这两个系统携带在一起，需要调查跳闸，超出处理的限制。本文介绍了一个非线性轮胎模型，适用于分析沿轮胎曲线的所有点处的巷道系统的行为以及用于寻找常见的二次Lyapunov函数来证明稳定性的方法。结果表明，巷道系统稳定地进入非线性轮胎区域。这种稳定性甚至在训练器收益的变化和车辆的滑降/超出特性的变化下保持。结果表明，未来的安全系统可以从整合巷子和稳定控制功能中受益。

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