Modeling and analysis of vehicle stability region based on Lyapunov and coordinated control

李雅普诺夫函数 理论(学习稳定性) 控制(管理) 控制理论(社会学) 计算机科学 数学 人工智能 物理 非线性系统 机器学习 量子力学
作者
Minghao Zhang,Xiaojian Wu,Jiansheng Liu,Aichun Wang,Haibo Jiang
标识
DOI:10.1177/09544070241244406
摘要

The timely intervention of the assisted driving system is the key to improving the handling stability and roll stability of the vehicle, and the vehicle stability region serves as the core basis for determining the intervention timing of the assisted driving system. With the aim of modeling and analyzing the vehicle stability region, a three-degree-of-freedom (3-DOF) vehicle dynamics model including yaw, roll, and lateral motions, as well as a nonlinear Magic Formula tire model are established in this paper. Based on this, a simplified but improved cubic tire model is developed to accurately fit the tire lateral force of Magic Formula tire model within a larger range of slip angles. Subsequently, using the Lyapunov method, the roll stability region and the yaw stability region are respectively constructed, and the accuracy verification and robustness analysis of the established stability region are conducted in the Matlab/Simulink environment. Finally, a model-free adaptive control method is employed to keep the vehicle state within the stability region, without tracking specific vehicle state objectives. The study in this paper can provide theoretical support for stability boundary determination, formulation of intervention timing for assisted driving stability control, and coordination control of vehicle stability and anti-rollover with local compatibility or even conflicts.
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