Design of Active Safety Systems for Long Combination Vehicles Considering Driver-Vehicle-Road Interactions

与单拖车铰接式车辆相比，牵引车/双拖车组合的长组合车辆（LCV）可以提高燃油经济性并减少温室气体排放。然而，LCV的定向性能较差，限制了其应用。虽然主动安全系统（ASS）已经被开发用于为客车汽车提供主动转向、差动制动和防侧倾控制，但是很少关注LCV安全系统。由于LCV的复杂配置和大尺寸，这些车辆表现出独特的动态行为，例如折曲，这可能导致致命事故。拟议的研究开发了新的主动安全技术，以提高LCV操作的安全性。 ASS设计的本质是构造一个控制器，与驱动器一起工作，以适应不同的操作条件。目前的ASS设计方法没有充分解决驾驶员-车辆-道路（DVR）的相互作用。拟议的方案将侧重于以下相互关联的创新研究： 1)主动转向和差速制动的集成控制。为了适应高速公路上不同的LCV运行条件，将集成主动转向和差动制动控制子系统。 2)使用动态博弈论设计ASSs。为了解决DVR在设计中的相互作用，设计问题将表示为一个非合作的动态博弈框架。两个“玩家”，即驾驶员和集成控制器，共同提高LCV在各种公路环境中的安全性。 3)使用实时模拟验证ASS。为了评估ASS，将进行驱动器硬件在环实时仿真。 4)开发自动化系统的创新设计方法。最终的研究目标是开发一种多级设计优化方法，考虑各种不确定性，例如，车辆有效载荷的变化。 该研究计划将通过其在复杂机电一体化车辆系统设计中的创新应用，为闭环动态系统设计的进步做出重大贡献。

Compared with articulated vehicles with a single trailer, long combination vehicles (LCVs) with a tractor/two-trailer combination can improve fuel economy and reduce greenhouse gas emissions. However, the poor directional performance of LCVs restricts their applications. Although active safety systems (ASSs) have been developed to provide active steering, differential braking, and antiroll control for passenger cars, little attention has been paid to LCV safety systems. Because of the complex configurations and large sizes of LCVs, these vehicles exhibit unique dynamic behaviors, such as jackknifing, which may lead to fatal accidents. The proposed research develops new active safety technologies to increase the safety of LCV operations. The essence of ASS design is to construct a controller(s) to work with the driver to accommodate varied operating conditions. Current ASS design methods have not adequately addressed the driver-vehicle-road (DVR) interactions. The proposed program will focus on the following interrelated innovative investigations: 1) Integrated control of active steering and differential braking. To accommodate varied LCV operating conditions on highways, the control subsystems of active steering and differential braking will be integrated. 2) Design of ASSs using dynamic game theory. To address the interactions of DVR in the design, the design problem will be represented by a noncooperative dynamic game framework. Two 'players', namely, the driver and integrated controller, work together to increase LCV safety in various highway environments. 3) Validation of ASSs using real-time simulations. To evaluate the ASSs, driver-hardware-in-the-loop real-time simulations will be conducted. 4) Development of innovative design methods for ASSs. The ultimate research goal is to develop a multilevel design optimization method that considers the various uncertainties, e.g., variations in vehicle payloads. This research program will contribute significantly to the advancement of closed-loop dynamic system design through its innovative application to the design of complex mechatronic vehicle systems.