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

与单挂车铰接式车辆相比，拖拉机/双挂车组合的长联轴式车辆(LCV)可以提高燃油经济性，减少温室气体排放。然而，LCVs较差的定向性能限制了其应用。虽然主动安全系统(ASSS)已经被开发出来为乘用车提供主动转向、差速制动和防侧倾控制，但对LCV安全系统的关注还很少。由于LCV结构复杂、尺寸较大，这些车辆表现出独特的动力学行为，如顶切，可能会导致致命的事故。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设计的实质是构造一个控制器(S)来与驾驶员一起工作，以适应不同的运行条件。目前的自动驾驶系统设计方法还没有充分考虑驾驶员-车辆-道路(DVR)之间的相互作用。拟议的方案将侧重于以下相互关联的创新调查： 1)主动转向与差速制动一体化控制。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速制动控制子系统。 2)基于动态博弈理论的ASSS设计。为了解决DVR在设计中的交互问题，设计问题将用一个非合作的动态博弈框架来表示。两个“玩家”，即司机和集成控制器，共同努力，在不同的高速公路环境中提高LCV的安全性。 3)使用实时仿真对ASSS进行验证。为了评估ASSS，将进行驱动器-硬件在环实时仿真。 4)发展ASSS的创新设计方法。最终的研究目标是开发一种考虑各种不确定性的多层次设计优化方法，例如车辆有效载荷的变化。 这一研究项目将通过其在复杂机电车辆系统设计中的创新应用，为闭环系统动态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.