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首页> 外文期刊>International Journal of Adaptive Control and Signal Processing >Adaptive yaw stability control by coordination of active steering and braking with an optimized lower-level controller
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Adaptive yaw stability control by coordination of active steering and braking with an optimized lower-level controller

机译：通过使用优化的下级控制器协调主动转向和制动的自适应偏航稳定性控制

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摘要

In this article, an integrated multiinput multioutput model reference adaptive control algorithm is presented based on active front steering and effective direct yaw moment distribution as an advanced driver assistance system. Vehicle parameter uncertainties in mass and tire-road friction coefficient are considered through adaptation laws at the upper level in the control structure. The efficient distribution of yaw moment on the rear wheels is performed via a constrained optimization at the lower control level. Control commands are executed by additive steering angle on front wheels and brake torque applied on one of the rear wheels. Simulation results for different lateral maneuvers are employed for the evaluation of the proposed adaptive control method. The performance of the integrated control algorithm to enhance vehicle handling and stability is shown on various road conditions.
机译：在本文中，基于主动前转向和有效的直接横摆力矩分布作为先进的驾驶员辅助系统，提出了一种集成的多量值多输出模型参考自适应控制算法。通过控制结构中的上层的适应法则考虑质量和轮胎摩擦系数的车辆参数不确定性。通过较低控制水平的受约束优化进行后轮上的横摆力矩的有效分布。控制命令由前轮上的附加转向角执行，并且施加在一个后轮上的制动扭矩。采用不同侧向机动的仿真结果用于评估所提出的自适应控制方法。集成控制算法的性能提高车辆处理和稳定性在各种道路条件下显示。

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