车辆主动极限态时变结构动力学系统行为及稳定性控制机理研究

Vehicle safety has always been a serious problem in vehicle development. Vehicle stability control has proved to be an effective technology to avoid traffic accidents.The vehicle was controlled to enter the extreme motion state through the active control and the stability control was achieved. The accident avoidance in the emergency and dangerous situation was realized. The existing vehicle ESP control was extended to the extreme motion state, enhancing the performance of vehicle stability control and improving the vehicle safety. Vehicle dynamics subsystems and vehicle dynamics system get into the strongly nonlinear region from the linear region and even get into the load bearing state on some of the wheels under active extreme conditions. The vehicle unified time-varying strongly nonlinear dynamics system under active extreme conditions was established, and its dynamics behavior and stability control mechanism were revealed by using the nonlinear dynamics theory. The parameter estimation and system identification of the vehicle time-varying structure nonlinear dynamics system under active extreme conditions were researched. Based on the characteristics of vehicle time-varying strongly nonlinear dynamics system, the optimal control strategy based on driving, braking, active steering integrated control and advanced control theory was studied. The active limit state stability test system of the vehicle was established and tested. The objective of this project is to solve several key problems in the vehicle stability control under active extreme conditions, and to provide theoretical basis and technical support for vehicle stability control research and technology development.

安全性是汽车发展面临的严峻问题之一，汽车稳定性控制技术被证实是避免交通事故的有效手段。通过主动控制使车辆进入极限运动状态，并实现稳定性控制，避免紧急危险工况下事故发生，将现行车辆ESP控制拓展到极限运动状态，增强了车辆稳定性控制性能，提高了车辆行驶安全性。车辆主动极限态各动力学子系统和整车动力学系统由线性区进入强非线性区，甚至出现部分车轮承载的状态，建立车辆主动极限态统一时变结构非线性动力学系统，应用非线性动力学理论，揭示其动力学行为和稳定性控制机理；研究车辆主动极限态时变结构非线性动力学系统参数估计和系统辨识；针对车辆时变结构非线性动力学系统特性，研究基于驱动、制动、主动转向集成控制和先进控制理论的最优控制策略；建立车辆主动极限态稳定性控制试验系统，进行试验验证。本项目旨在解决车辆主动极限态稳定性控制几个关键问题，为车辆稳定性控制研究和技术开发提供理论基础和技术支持。

安全性是汽车发展面临的严峻问题之一，汽车稳定性控制技术被证实是避免交通事故的有效手段。研究车辆极限运动状态稳定性主动安全控制策略，结合自动驾驶感知算法，实现最优动态路径规划和导航控制，提高自动驾驶车辆稳定性控制性能。建立了车辆极限运动状态各动力学子系统和整车动力学系统强非线性动力学模型，揭示了其动力学行为和稳定性控制机理；研究车辆主动极限态时变结构非线性动力学系统参数估计和系统辨识；采用UniTire轮胎模型，考虑轮胎侧向力与轮胎纵向滑移率、轮胎侧偏角、轮胎运动速度及垂向载荷关系，研究车辆时变结构非线性动力学系统特性，提出驱动、制动、主动转向集成控制和鲁棒最优控制策略。.提出空间语义网络实现了通过双目摄像头获取空间语义点云算法，提升了自动驾驶感知性能；提出基于体素网络模型的新头部网络结构以及对应的模型训练数据预处理办法，实现了多类别目标识别，有效提高了模型对数据特征的学习能力；提出鸟瞰视图辅助网络结合模型实现了实时多类别目标识别，提高了目标识别准确率和算法实时性，为车辆极限态自动驾驶动态路径规划奠定了基础。.建立了分布式车辆动力学综合试验台系统，提出双滚筒可变安置角等效附着控制机理和可变惯量等效附着控制机理，实现多种附着工况模拟，建立了EAHP优化分类动力学性能综合评价模型，基于机器学习建立了测试数据集各指标权重自学习优化综合评价方法模型，基于车辆主动极限态稳定性控制试验系统，对所提出的车辆动力学模型和极限态控制算法进行了验证。本项目研究对车辆主动极限态稳定性控制关键问题有所突破，为车辆稳定性控制研究和技术开发提供理论基础和技术支持。