防侧翻过程驾驶员反馈干扰形成机理及抗干扰协调控制

辅助驾驶系统抗侧翻控制的主动介入/退出具有突然性，易引起驾驶员不适应，进而诱使其产生反应式转向“纠正”，对控制系统形成强烈干扰，影响抗侧翻控制效果，甚至导致车辆失稳。本项目将揭示车辆动力学因素导致的驾驶员转向干扰形成机理，发展防侧翻系统抗干扰多目标协调控制。具体包括：考虑抗侧翻与转向操纵动力学的耦合影响，建立“侧翻-横摆-侧向-转向操纵”非线性动力学模型，揭示动力学系统复杂耦合关系及“车”的因素导致的驾驶员反馈干扰形成机理；分析差动制动和主动前轮转向进行抗侧翻/操稳性控制的可控制域及控制响应灵敏度；提出以操稳性可控制域为约束的顶层目标弹性协调策略，研究差动制动和主动前轮转向耦合执行系统的介入/退出时机和协调机制，提出融合瞬态响应平滑与抗干扰鲁棒控制的执行系统任务分配策略。本项目对动力学系统瞬态响应平滑、辅助驾驶系统抗干扰控制具有良好的参考价值，对完善车辆抗侧翻控制理论及应用具有重要意义。

The sudden intervention/exit of the anti-rollover control of the assistant driving system is prone to make the driver be unaccustomed, and then induces the driver to have a reactive steering "correction", which strongly interferes with the control system and affects the anti-rollover control effect, even leads to vehicle instability. To comprehensively improve the above problems, this project will reveal the formation mechanism of driver's steering interference caused by vehicle dynamics, and develop anti-interference multi-objective coordinated control of anti-rollover system. This project research focus will mainly cover the following aspects: Firstly, a "roll motion-yaw motion-lateral motion-steering operation" dynamics model will be established to explore the complex coupling relationship and the formation mechanism of driver feedback interference caused by "vehicle" factors. Secondly, the controllable domain of anti-rollover control and handling control by differential braking and active front steering will be respectively studied, as well as the response sensitivity of anti-rollover control and handling control will be analyzed. Subsequently, an anti-rollover multi-objective coordination strategy based on the controllable domain will be proposed to give the anti-rollover control a greater control margin, and the intervention criteria of the differential braking and active front wheel steering coupling dynamic systems will be studied, as well as a task allocation strategy for execution system will be proposed by combining transient response smoothing and anti-interference robust control. Generally, this project aims to fundamentally solve the problem of driver's steering "correction" induced by "vehicle" factors, which plays a good reference value for smoothing transient response of the dynamic system and anti-interference control of the assisted driving system, and is of great significance to improve the theory and application of anti-rollover control of vehicles.