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Fuzzy logic approach to vehicle stability control.

机译：车辆稳定性控制的模糊逻辑方法。

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摘要

Traditional Electronic Stability Control (ESC) for automobiles is usually accomplished through the use of estimated vehicle dynamics from simplified models. Starting with the conventional two degree-of-freedom vehicle model, one can estimate the vehicle states from the driver steering input. From this estimate, vehicle sideslip angle can be found and this is generally used with a threshold value to initiate a control action. The input/output relationship of the model depends heavily on the accuracy of the parameters used and various means to correct model inaccuracies. Specifically, these models depend on the tire cornering stiffness which is prone to change with age and loading of the tires. Moreover, not all consumers will replace the original equipment (OE) tires with the same ones. Vehicle response is also directly related to coefficient of friction between the tire and road which varies with road and tire conditions. These issues may result in the degradation of the effectiveness of the ESC system. At the very least, they may require extensive tuning of the control algorithms.;This thesis proposes a different method for estimating the instability of a vehicle. It is solely based on measurable vehicle dynamic response characteristics including lateral acceleration, yaw rate, speed, and driver steering input. These signals are appropriately conditioned and evaluated with fuzzy logic to determine the degree of instability present. When the "degree of instability" passes a certain threshold, the appropriate control action is applied to the vehicle in the form of differential yaw braking. Using only the measured response of the vehicle alleviates the problem of degraded performance when vehicle parameters change.;Finally, ten case studies of different vehicles, configurations, environments, driver models, and maneuvers are tested with the same ESC strategy to examine the concept of stability control without estimation. Four very different vehicles ranging from a sports car to a sport utility vehicle (SUV) in multiple configurations including degraded rear tires and different loading conditions are used in evaluating the proposed ESC. These vehicles and configurations are subjected to multiple maneuvers including a double lane change and a fishhook maneuver with tire-to-road conditions such as split mu and low mu to simulate slippery road conditions. The main result of this research is the evolution of a new ESC concept where performance is not based on a vehicle model with set parameters that lose effectiveness in estimating the vehicle dynamic states when the vehicle changes. Instead, the algorithm relies only on the current measurable dynamic states of the vehicle to preserve stability.
机译：用于汽车的传统电子稳定性控制（ESC）通常是通过使用简化模型中估算的车辆动力学来实现的。从传统的两个自由度车辆模型开始，可以从驾驶员转向输入中估算车辆状态。根据该估计，可以发现车辆侧滑角，并且通常将其与阈值一起使用以启动控制动作。模型的输入/输出关系在很大程度上取决于所用参数的准确性以及各种纠正模型误差的方法。具体地，这些模型取决于轮胎的转弯刚度，该轮胎的转弯刚度易于随轮胎的老化和载荷而变化。此外，并非所有消费者都会用相同的轮胎替换原始设备（OE）轮胎。车辆响应也与轮胎和道路之间的摩擦系数直接相关，该摩擦系数随道路和轮胎状况而变化。这些问题可能会导致ESC系统的有效性下降。至少，它们可能需要对控制算法进行广泛的调整。;本文提出了一种不同的方法来估计车辆的不稳定性。它仅基于可测量的车辆动态响应特性，包括横向加速度，横摆率，速度和驾驶员转向输入。这些信号经过适当调节，并用模糊逻辑进行评估，以确定存在的不稳定程度。当“不稳定程度”超过某个阈值时，将以差速横摆制动的形式将适当的控制动作应用于车辆。最后，仅使用车辆的已测响应缓解了车辆参数变化时性能下降的问题。最后，使用相同的ESC策略测试了十种不同车辆，配置，环境，驾驶员模型和操纵的案例研究，以检验无需估计即可进行稳定性控制。在评估建议的ESC时，使用了从跑车到运动型多用途车（SUV）的四种截然不同的车辆，它们具有多种配置，包括退化的后轮胎和不同的装载条件。这些车辆和配置需要进行多次操纵，包括双车道变换和鱼钩操纵，并采用轮胎到道路的条件，例如分割亩和低亩，以模拟湿滑的道路状况。这项研究的主要成果是新的ESC概念的发展，该概念的性能不是基于具有设定参数的车辆模型，而这些参数会在估计车辆变化时失去估计车辆动态状态的有效性。相反，该算法仅依赖于车辆的当前可测量动态状态来保持稳定性。

著录项

  • 作者

    Anderson, Jeffery R.;

  • 作者单位

    Clemson University.;

  • 授予单位 Clemson University.;
  • 学科 Engineering Mechanical.
  • 学位 M.S.
  • 年度 2010
  • 页码 157 p.
  • 总页数 157
  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类
  • 关键词

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