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Active Limit Handling for Enhanced Passenger Vehicle Safety

主动限位处理可增强乘用车安全性

基本信息

批准号：
EP/I037792/1
负责人：
Efstathios Velenis
金额：
$ 12.72万
依托单位：
Brunel University London
依托单位国家：
英国
项目类别：
Research Grant
财政年份：
2012
资助国家：
英国
起止时间：
2012 至无数据
项目状态：
已结题

来源：
https://gtr.ukri.org/projects?ref=EP%2FI037792%2F1
关键词：
Active Limit Handling Enhanced Passenger

项目摘要

Road traffic injuries have become a leading cause of death globally accounting for 1.2 million deaths annually, and will rise in worldwide rank to sixth place as a major cause of death (including decease), by 2020. It is encouraging that, despite the constant increase of the number of vehicles in Europe during the last decade, the number of fatalities demonstrates a slow decay. This can be partly attributed to the enormous improvements in vehicle safety, through the introduction of both passive and active safety systems. By no means, however, have the current state-of-the-art of vehicle safety systems proven adequate to radically reverse the sober traffic accident statistics.Current active safety systems, such as the Electronic Stability Control (ESC), aim at restricting the operation of the vehicle within a region characterised by an on-demand linear increase of tyre forces, away from the tyre's maximum force capacity, allowing the average driver to maintain control of the vehicle. With this project we wish to explore the benefits of using the whole of the available performance of the vehicle, rather than restricting its response, in accident avoidance situations. We propose the development of novel control algorithms, which will use the control authority introduced by current active safety systems and modern power/drive-train configurations, and employ expert driving skills to actively assist the driver exploit the limits of handling of the vehicle during emergency manoeuvring. MIRA, one of the world's leading independent providers of vehicle product engineering, testing, certification and research, has expressed their great interest in exploring the limits of the handling capacity of vehicles with modern power/drive-train configurations and the potential benefits in active safety. The company has agreed to offer their support to this project by means of technical consultation and active participation in the management and execution of the proposed research tasks.Current drive-by-wire (DBW) actuators have allowed for a considerably enhanced control authority over the vehicle, as compared to traditional steering, brake and power/drive-train systems. The human operator provides commands through the conventional controls, that is, the steering wheel, and the throttle and brake pedals, whereas, for instance, the ESC allows for individual wheel braking, and electric motors in hybrid vehicles allow for individual wheel torque control. Race drivers have developed expert techniques to exploit most of the available force capacity of the tyres using the traditional controls. The enhanced control authority provided by modern vehicle controls potentially allows for even more efficient use of the available tyre performance. In this work we wish to explore the performance limits of modern vehicles equipped with DBW actuators, and identify optimum operating conditions related to accident avoidance. The first research task of the proposed work is to obtain steady-state cornering conditions at the limit of handling of the vehicle, that is, in a region of vehicle operation where the tyres produce forces close to their maximum capacity. As a case study we will consider the power/drive-train configuration of MIRA's prototype hybrid vehicle (H4V) which uses two high-torque independently controlled electric motors to drive the rear wheels. Consequently, we will design controllers using linear and nonlinear control design tools, which will stabilise the vehicle in potentially unstable driving conditions, instead of restricting the vehicle in a stable operating region away from its performance limits, using DBW control inputs. The control design will be implemented in a high fidelity simulation environment using experimentally validated vehicle models provided by MIRA. The implementation strategy entails the detection of emergency situations and accounts for the driver's intention.

道路交通伤害已成为全球主要死因，每年造成 120 万人死亡，到 2020 年，道路交通伤害将上升至全球第六位，成为主要死因（包括死亡）。令人鼓舞的是，尽管欧洲的车辆数量在过去十年中不断增加，但死亡人数却呈缓慢下降趋势。这在一定程度上要归功于通过引入被动和主动安全系统，车辆安全性的巨大提高。然而，目前最先进的车辆安全系统还不足以从根本上扭转清醒的交通事故统计数据。当前的主动安全系统，例如电子稳定控制系统（ESC），旨在将车辆的运行限制在轮胎力按需线性增加的区域内，远离轮胎的最大承载力，从而使普通驾驶员能够保持对车辆的控制。通过这个项目，我们希望探索在避免事故的情况下利用车辆的全部可用性能而不是限制其响应的好处。我们建议开发新颖的控制算法，该算法将利用当前主动安全系统和现代动力/传动系统配置引入的控制权，并利用专业的驾驶技能来积极协助驾驶员在紧急操纵期间利用车辆的操控极限。 MIRA 是全球领先的车辆产品工程、测试、认证和研究独立提供商之一，他们对探索具有现代动力/传动系统配置的车辆处理能力的极限以及主动安全方面的潜在优势表示了极大的兴趣。该公司已同意通过技术咨询和积极参与管理和执行拟议研究任务的方式为该项目提供支持。与传统的转向、制动和动力/传动系统相比，当前的线控驱动（DBW）执行器可以显着增强对车辆的控制权限。操作员通过传统控制装置（即方向盘、油门踏板和制动踏板）发出命令，而 ESC 允许单独车轮制动，混合动力车辆中的电动机允许单独车轮扭矩控制。赛车手已经开发出专业技术，可以使用传统控制装置充分利用轮胎的大部分可用力量。现代车辆控制装置提供的增强控制权限可能允许更有效地利用现有轮胎性能。在这项工作中，我们希望探索配备 DBW 执行器的现代车辆的性能极限，并确定与避免事故相关的最佳操作条件。这项工作的第一个研究任务是在车辆操纵极限下获得稳态转弯条件，即在车辆运行区域中轮胎产生接近其最大能力的力。作为案例研究，我们将考虑 MIRA 原型混合动力汽车 (H4V) 的动力/传动系统配置，该汽车使用两个高扭矩独立控制电动机来驱动后轮。因此，我们将使用线性和非线性控制设计工具来设计控制器，这将使车辆在潜在不稳定的驾驶条件下保持稳定，而不是使用 DBW 控制输入将车辆限制在远离其性能极限的稳定运行区域。控制设计将使用 MIRA 提供的经过实验验证的车辆模型在高保真仿真环境中实施。实施策略需要检测紧急情况并考虑驾驶员的意图。