The mathematical model of dynamic stabilization system for autonomous car

International Automobile Scientific Forum (IASF-2017) Intelligent Transport Systems

Saikin, A.M.^1 ; Buznikov, S.E.^1 ; Shabanov, N.S.^1 ; Elkin, D.S.^1

FSUE NAMI, Moscow, Russia^1

关键词: Adequacy of the mathematical models;    Driver assistance system;    Dynamic stabilization;    Finite time intervals;    Friction coefficients;    Modern control theory;    Quadratic functionals;    Software and hardwares;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/315/1/012023/pdf
DOI  :  10.1088/1757-899X/315/1/012023

来源: IOP

【 摘 要 】

Leading foreign companies and domestic enterprises carry out extensive researches and developments in the field of control systems for autonomous cars and in the field of improving driver assistance systems. The search for technical solutions, as a rule, is based on heuristic methods and does not always lead to satisfactory results. The purpose of this research is to formalize the road safety problem in the terms of modern control theory, to construct the adequate mathematical model for solving it, including the choice of software and hardware environment. For automatic control of the object, it is necessary to solve the problem of dynamic stabilization in the most complete formulation. The solution quality of the problem on a finite time interval is estimated by the value of the quadratic functional. Car speed, turn angle and additional yaw rate (during car drift or skidding) measurements are performed programmatically by the original virtual sensors. The limit speeds at which drift, skidding or rollover begins are calculated programmatically taking into account the friction coefficient identified in motion. The analysis of the results confirms both the adequacy of the mathematical models and the algorithms and the possibility of implementing the system in the minimal technical configuration.