Purpose

This study aims to propose an improved linear quadratic regulator (LQR) based on the adjusting weight coefficient, which is used to improve the performance of the vehicle direct yaw moment control (DYC) system.

Design/methodology/approach

After analyzing the responses of the side-slip angle and the yaw rate of the vehicle when driving under different road adhesion coefficients, the genetic algorithm and fuzzy logic theory were applied to design the parameter regulator for an improved LQR. This parameter regulator works according to the changes in the road adhesion coefficient between the tires and the road. Hardware-in-the-loop (HiL) tests with double-lane changes under low and high road surface adhesion coefficients were carried out.

Findings

The HiL test results demonstrate the proposed controllers’ effectiveness and reasonableness and satisfy the real-time requirement. The effectiveness of the proposed controller was also proven using the vehicle-handling stability objective evaluation method.

Originality/value

The objective evaluation results reveal better performance using the improved LQR DYC controller than a front wheel steering vehicle, especially in reducing driver fatigue, improving vehicle-handling stability and enhancing driving safety.

中文翻译：

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基于改进线性二次调节器的车辆直接横摆力矩控制系统

目的

本研究旨在提出一种基于调整权重系数的改进线性二次调节器（LQR），用于提高车辆直接横摆力矩控制（DYC）系统的性能。

设计/方法/方法

在分析了车辆在不同路面附着系数下行驶时的侧滑角和横摆率响应后，应用遗传算法和模糊逻辑理论设计了改进LQR的参数调节器。该参数调节器根据轮胎与路面之间的路面附着系数的变化而工作。在低路面附着系数和高路面附着系数下进行了双车道变化的硬件在环 (HiL) 测试。

发现

HiL 测试结果证明了所提出的控制器的有效性和合理性，并满足实时性要求。使用车辆操纵稳定性客观评估方法也证明了所提出的控制器的有效性。

原创性/价值

客观评估结果表明，使用改进的 LQR DYC 控制器比前轮转向车辆具有更好的性能，尤其是在减少驾驶员疲劳、提高车辆操纵稳定性和提高驾驶安全性方面。