对自动化公路系统弯道上汽车防侧滑／侧翻控制系统进行了研究。在汽车驶入弯道前计算安全车速，建立车辆运动学模型，采用积分反推方法设计了直道制动减速阶段的速度控制器，通过引入虚拟控制变量设计了弯道车道保持阶段的位姿控制器。根据车辆动力学简化模型设计了动力学控制器进行仿真试验，车辆以安全车速通过弯道。试验表明所设计的控制器具有快速、准确跟踪和全局稳定的特性，能有效避免发生侧滑／侧翻的危险工况，保证车辆行驶安全性和方向稳定性。%Vehicle sideslip/rollover avoidance control system is investigated for enhancing its safety on curve lane of automated highway system .A safe speed is calculated before the vehicle enters the curve lane .T he vehicle kinematics model is established and integral backstepping method is adopted to design the velocity controller during vehicle braking deceleration phase in straight lane . A virtual control variable is introduced to realize the control of curve lane′s keeping trajectory tracking .The dynamics controller is designed according to the simplified dynamics model to perform the simulation test ,which ensures that the vehicle could go through the curve lane with a desired safe speed .From the simulation results ,it is concluded that the designed controller has fast ,accurate tracking and global stability characteristics .Moreover ,it can efficiently avoid such dangerous working conditions as sideslip /rollover and potentially improve vehicle driving safety and cornering directional stability .
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