考虑驾驶员随机行为特性的爆胎汽车主动控制方法研究

Blowout of vehicle tires poses a significant challenge on road safety, while wrong actions taken by the driver is always the major cause of traffic accidents. However, there has been no efforts on investigating the driver behavior and its impact on vehicles control after a tire blowout. Due to the randomness and differentiation of the driver behavior, the existing control schemes could not analyze and establish this kind of driver model, and it is lack of reasonable man-machine coordinated control method for road vehicles after a tire blowout. In addition, the control methods lack of theoretical guarantee, such as stability, robustness. Moreover, the controllers face the miniaturization and real-time problem. Motivated by these observations, this project controls the blowout tire vehicles from the point of theory and method. It is focus on (1) blowout tire vehicle dynamics modeling method with considering the driver behavior characteristics; (2) driver-in-loop active control method for road vehicles after a tire blowout; (3) the entire stability and robustness of the control scheme; (4) the high real-time performance and high-efficiency embedded implementation scheme for the control scheme. Thereby, this research project would be expected to propose the man-machine coordinated control scheme of the road vehicles after a tire blowout and promote the vehicle driving safety. Moreover, it will encourage the cross fertilization of multidisciplinary researches and extending the application of control theory in the field of automobile intellectualization.

汽车爆胎严重影响着行车安全，而爆胎后驾驶员错误或过度的操纵行为是引发交通事故的根本原因，但目前针对爆胎汽车主动控制问题的研究在关于驾驶员输入的影响这一方面却未有涉及。针对驾驶员行为特性具有一定的随机性和差异性，现有的控制方案尚未对爆胎后的驾驶员行为特性进行分析与建模，同时也缺乏合理的人机协同控制方法及其稳定性与鲁棒性的理论保证，另外，控制器实现面临存储成本和计算实时性问题，因此，本项目从理论与方法的角度对考虑驾驶员行为特性的爆胎汽车主动控制问题展开研究。重点研究：(1) 考虑驾驶员随机行为特性的爆胎汽车动力学建模方法；(2) 驾驶员在环的爆胎汽车主动控制方法；(3) 爆胎汽车主动控制系统的稳定性与鲁棒性；(4) 爆胎汽车主动控制策略的快速高效实现方法。通过本项目的研究提出爆胎汽车人机协同控制问题的解决方案，提高汽车突遇爆胎后的行驶安全性，促进多学科交叉，拓展控制理论在汽车智能化领域的应用。

为了保证爆胎汽车的行驶安全，本文首先针对爆胎这一极限行驶工况，提出了非线性预测安全控制方法。考虑到汽车低速行驶时较小的前轮转角即可保持爆胎汽车稳定行驶，因此采用仅转向控制策略进行控制系统设计，由于预测模型与实际系统相比存在模型不确定性及扰动因素的影响，为了保证系统状态的收敛性及稳定性，基于准无限时域模型预测控制理论设计了非线性预测安全控制系统。其次，针对高速行驶时仅转向控制策略容易使爆胎汽车发生翻车危险这一问题，通过采用主动转向-差动制动协调控制策略，基于“三步法”设计框架，逐步设计了类稳态控制输入、基于参考动态的前馈控制以及跟踪误差反馈控制输入，提出了基于李雅普诺夫稳定性理论的非线性协调控制方法。最后，针对一类不确定多输入多输出非线性非仿射系统，提出了一种面向工程应用的非线性控制方法。通过合理地设计误差反馈取代优化过程，并利用隐函数理论证明了期望控制器的存在性。考虑到该方法设计过程中所基于模型存在不确定性及扰动因素的影响，给出了闭环系统的鲁棒性分析。