基于改进TTR重型车辆侧翻预警及多目标稳定性控制算法研究
|
摘要
重型车辆(包括重型卡车、重型半挂车)具有重心位置高、重量和体积大、轮距相对于车身高度过窄等特点,极易发生侧翻事故。同时由于牵引车和挂车之间存在复杂的耦合关系,导致行驶过程中还容易诱发摆振和折叠等交通事故。交通事故数据显示,重型车辆交通事故一直居高不下,因此重型车辆的侧翻稳定性和安全性问题已经成为制约道路交通运输事业发展的瓶颈。
针对上述重型车辆行驶安全性问题,本文的学术思想是在国内外研究成果的基础上,重点研究重型车辆侧翻预警及控制问题和重型半挂车侧倾、横摆、折叠多目标稳定性控制问题。研究的关键技术和难点主要体现在重型车辆侧翻模型的精确建立及动态侧翻门限值确定;重型车辆动态侧翻预警控制器开发及鲁棒控制算法研究;重型半挂车多目标稳定性控制算法研究。重点考察重型车辆侧翻预警及控制效果和重型半挂车多目标稳定性控制效果。
基于上述研究内容,本文自主开发了重型车辆侧翻预警车载测试平台,利用该车载测试平台,进行了重型车辆侧翻预警控制器测试试验。试验结果表明:自主开发的侧翻预警控制器可以有效地进行车辆侧翻提前预警,并通过警示装置警告驾驶员及时修正操纵,从而避免重型车辆侧翻的发生。
With the development of highway, the road transportation industry flourishes based on heavy duty vehicle. The wide application of heavy duty vehicle improves the efficiency of road transportation and reduces the cost of goods-delivery. While the heavy duty vehicle has a higher gravity-center, larger loads and relatively narrow tread in comparison with the height of vehicle. Therefore the stability of rollover threshold is lower, consequently, rollover tends to occur.Simultaneously, and there exists a complicated coupling relationship between the tractor and semitrailer, which causes occurrence of rollover, swing, and jackknife. For years the accidents of heavy vehicles are in a status of high frequency, and how to solve the problem of steability and safety of heavy duty vehicle has become a key factor in road development.
The present research conducted by national research center and factories mostly focused on static stability mechasim analysise and simulation, while the technique of dynamic stability control is inadequate, further more, there is a blank in the rollover warning and stability control of heavy duty vehicle. This paper, firstly, based on the latest foundings home and abroad, made a research into the rollover warning and stability control technique, with a focus on the precise construction of warning and control model, and realization of dynamic rollover warning and robust stability control in disturbance. Secondly, as for semitraler, to solve the problem of rollover, swing and jackknife, this paper explored a set of multi-objective contrl strategy so as to ahieve comprehensive control over rollover, swing and jackknife. And thirdly, taking the above research as a basis, it independently developed rollover warning controller, constructed on-line platform for real vehicle rollover test, and the real vehicle tests were conducted to testify the conrol effect.
According to the above technical route, the paper explored the following discussions.
First of all, a dynamic model was built.The paper first built up a 3-DOF model and then utilized off-line identification technology, and explored to identify the key parameters of 3-DOF vehicle model.In addition, using the improved model to carry out on-line rollover prediction and control, the dynamic rollover threat could be precisely predicted. This alglorithm of vehicle rollover warning was characterized with simplicity, good real-time and convenient transplantation. In order to make the model closer to the real vehicle, the data obtained from real vehicle tests can be used to set the key parameters of the model. The modified model can precisely predict the risk degree of rollover which prepared a model basis for the later control technique.
Secondly, rollover warning alglorithm of vehicle was developed. Using the alglorithm based on the dynamic rollover time, this research aimed to early warn the risk of rollover. Grounding on the reference rollover model, choosing the absolute value of lateral load transfer as the threshold of rollover, judging from the current vehicle status, it managed to predict in the coming three seconds whether the lateral load transfer reached the rollover threshold and got a real time TTR(Time to rollover). And then, according to predicting value, it triggerd the predicting device (buzzers and alarm lights) which reminded the driver to slow down and modify his driving, so as to avoid the potential hazards.
Thirdly, rollover stability control alglorithm of vehicle was developed. It targeted at the design of robust controller to improve the stability control of heavy duty vehicle, the core of which was that the rollover accidents could be avoided by differential braking on the basis of robust feedback gain control. In this way the question of rollover stability control was transformed into robust interference restraint through H∞state feedback control. And then, taking the lateral load transfer as the control target, it designed a H∞state feedback controller and a PID controller. Next, utilizing the commercial software Trucksim as vehicle sophisticated model, it simulated the rollover stability control in open-loop and human-vehicle close loop situation. The simulation result proved that the LMI robust controller could effectively improve the vehicle rollover stability and has the better interference immunity and robustness.
Fourthly, based on LQR control, multi-objective control strategy was studied. In regard to the properties of semitrailer and exsisting question, it built up the dynamic model with which the LQR control, multi-objective control strategy was explored through differential braking and improved the comprehensive control of rollover, swing, and jackknife stability of heavy duty vehicle and semitrailer. Simulation results showed that above control strategy could effectively improve the vehicle driving stability; avoid the occurrence of rollover, swing and jackknife.
At last, the rollover warning control alglorithm of vehicle was tested on real vehicle. Grounding on the simulation results, it developed the heavy duty vehicle rollover warning test platform including sensors, data collecting system, warning controller and warning device. And utilizing the platform, the heavy duty vehicle rollover prediction and control tests were conducted on real vehicle. The tests results showed that the platform reached the expectant objective and could meet the demand of rollover prediction and control; and the rollover warning controller designed independently could effectively predict the risk degree of rollover. Furthermore, the controller was original and supplied a gap in the field of heavy duty vehicle active safety control which provided a guideline for the domestic manufacturers and research centers.
In general, the paper firstly made an analysis on the heavy duty vehicle stability mechanism and put forward the technique scheme and route on the basis of latest research foundings home and abroad. And secondly it developed rollover warning and stability control alglorithm of vehicle which was conformed simulation results and could effectively improve the stability of rollover, swing and jackknife. Finally, it developed the heavy duty vehicle rollover warning test platform and the real vehicle tests were carried out on an airport of air force, and the rollover warning controller designed independently could effectively predict the rollover risk and warned the driver to modify his driving, so as to avoid the occurrence of rollover.?
针对上述重型车辆行驶安全性问题,本文的学术思想是在国内外研究成果的基础上,重点研究重型车辆侧翻预警及控制问题和重型半挂车侧倾、横摆、折叠多目标稳定性控制问题。研究的关键技术和难点主要体现在重型车辆侧翻模型的精确建立及动态侧翻门限值确定;重型车辆动态侧翻预警控制器开发及鲁棒控制算法研究;重型半挂车多目标稳定性控制算法研究。重点考察重型车辆侧翻预警及控制效果和重型半挂车多目标稳定性控制效果。
基于上述研究内容,本文自主开发了重型车辆侧翻预警车载测试平台,利用该车载测试平台,进行了重型车辆侧翻预警控制器测试试验。试验结果表明:自主开发的侧翻预警控制器可以有效地进行车辆侧翻提前预警,并通过警示装置警告驾驶员及时修正操纵,从而避免重型车辆侧翻的发生。
With the development of highway, the road transportation industry flourishes based on heavy duty vehicle. The wide application of heavy duty vehicle improves the efficiency of road transportation and reduces the cost of goods-delivery. While the heavy duty vehicle has a higher gravity-center, larger loads and relatively narrow tread in comparison with the height of vehicle. Therefore the stability of rollover threshold is lower, consequently, rollover tends to occur.Simultaneously, and there exists a complicated coupling relationship between the tractor and semitrailer, which causes occurrence of rollover, swing, and jackknife. For years the accidents of heavy vehicles are in a status of high frequency, and how to solve the problem of steability and safety of heavy duty vehicle has become a key factor in road development.
The present research conducted by national research center and factories mostly focused on static stability mechasim analysise and simulation, while the technique of dynamic stability control is inadequate, further more, there is a blank in the rollover warning and stability control of heavy duty vehicle. This paper, firstly, based on the latest foundings home and abroad, made a research into the rollover warning and stability control technique, with a focus on the precise construction of warning and control model, and realization of dynamic rollover warning and robust stability control in disturbance. Secondly, as for semitraler, to solve the problem of rollover, swing and jackknife, this paper explored a set of multi-objective contrl strategy so as to ahieve comprehensive control over rollover, swing and jackknife. And thirdly, taking the above research as a basis, it independently developed rollover warning controller, constructed on-line platform for real vehicle rollover test, and the real vehicle tests were conducted to testify the conrol effect.
According to the above technical route, the paper explored the following discussions.
First of all, a dynamic model was built.The paper first built up a 3-DOF model and then utilized off-line identification technology, and explored to identify the key parameters of 3-DOF vehicle model.In addition, using the improved model to carry out on-line rollover prediction and control, the dynamic rollover threat could be precisely predicted. This alglorithm of vehicle rollover warning was characterized with simplicity, good real-time and convenient transplantation. In order to make the model closer to the real vehicle, the data obtained from real vehicle tests can be used to set the key parameters of the model. The modified model can precisely predict the risk degree of rollover which prepared a model basis for the later control technique.
Secondly, rollover warning alglorithm of vehicle was developed. Using the alglorithm based on the dynamic rollover time, this research aimed to early warn the risk of rollover. Grounding on the reference rollover model, choosing the absolute value of lateral load transfer as the threshold of rollover, judging from the current vehicle status, it managed to predict in the coming three seconds whether the lateral load transfer reached the rollover threshold and got a real time TTR(Time to rollover). And then, according to predicting value, it triggerd the predicting device (buzzers and alarm lights) which reminded the driver to slow down and modify his driving, so as to avoid the potential hazards.
Thirdly, rollover stability control alglorithm of vehicle was developed. It targeted at the design of robust controller to improve the stability control of heavy duty vehicle, the core of which was that the rollover accidents could be avoided by differential braking on the basis of robust feedback gain control. In this way the question of rollover stability control was transformed into robust interference restraint through H∞state feedback control. And then, taking the lateral load transfer as the control target, it designed a H∞state feedback controller and a PID controller. Next, utilizing the commercial software Trucksim as vehicle sophisticated model, it simulated the rollover stability control in open-loop and human-vehicle close loop situation. The simulation result proved that the LMI robust controller could effectively improve the vehicle rollover stability and has the better interference immunity and robustness.
Fourthly, based on LQR control, multi-objective control strategy was studied. In regard to the properties of semitrailer and exsisting question, it built up the dynamic model with which the LQR control, multi-objective control strategy was explored through differential braking and improved the comprehensive control of rollover, swing, and jackknife stability of heavy duty vehicle and semitrailer. Simulation results showed that above control strategy could effectively improve the vehicle driving stability; avoid the occurrence of rollover, swing and jackknife.
At last, the rollover warning control alglorithm of vehicle was tested on real vehicle. Grounding on the simulation results, it developed the heavy duty vehicle rollover warning test platform including sensors, data collecting system, warning controller and warning device. And utilizing the platform, the heavy duty vehicle rollover prediction and control tests were conducted on real vehicle. The tests results showed that the platform reached the expectant objective and could meet the demand of rollover prediction and control; and the rollover warning controller designed independently could effectively predict the risk degree of rollover. Furthermore, the controller was original and supplied a gap in the field of heavy duty vehicle active safety control which provided a guideline for the domestic manufacturers and research centers.
In general, the paper firstly made an analysis on the heavy duty vehicle stability mechanism and put forward the technique scheme and route on the basis of latest research foundings home and abroad. And secondly it developed rollover warning and stability control alglorithm of vehicle which was conformed simulation results and could effectively improve the stability of rollover, swing and jackknife. Finally, it developed the heavy duty vehicle rollover warning test platform and the real vehicle tests were carried out on an airport of air force, and the rollover warning controller designed independently could effectively predict the rollover risk and warned the driver to modify his driving, so as to avoid the occurrence of rollover.?
引文
[1] 51行业报告网.2009-2012年中国汽车产业调研及投资前景预测分析报告[R], 2009.08.
[2]程振彪.世界载货汽车工业最新发展动态[J].汽车科技, 2001, 1(1):4-7.
[3] Linda Jarossi, Anne Matteson. Trucks involved in fatal accidents fact book 2006[R]. The University of Michigan Transportation Research Institute, Ann Arbor, 2008..
[4] M.Frimberger et al. Influnces of parameters at vehicle rollover[C].SAE Paper No. 2000-01-2669, 2000.
[5]许洪国,刘宏飞等.汽车列车横向稳定性研究[J].公路交通科技,2006,23(2):141-150.
[6] Bouteldja, M, Koita, A.Prediction and Detection of Jackknifing problems for Tractor Semi-Trailer.Vehicle Power and Propulsion Conference[C]. VPPC’06.IEEE, 2006.
[7]慧典市场研究报告网.2009年中国重型卡车行业研究报告[R].2009.10.
[8] Chris Winkler.UMTRI Research Review [J].University of Michigan Transportation Research Institute, 2000, 31(4):1-20.
[9] C.B. Winkler, R.D. Ervin. Rollover of Heavy Commercial Vehicles[R]. The University of Michigan Transportation Research Institute UMTRI-99-19, August, 1999.
[10] R.D. Ervin, C.B. Winkler, C., Fancher, Two Active Systems for Enhancing Dynamic Stability in Heavy Truck Operations[R].The University of Michigan Transportation Research Institute UMTRI-98-39, July, 1998.
[11] Y. He, A. Khajepour, J. Mcphee and X. Wang. Dynamic Modelling and Stability Analysis of Articulated Frame Steering Vehicles [J]. Int. J. of Vehicle System, 2005, 12(1):28-59.
[12] Jamie Gertsch, Oliver Eichelhard. Simulation of Dynamic Rollover Threshold for Heavy Trucks[C]. SAE Paper No.2003-01-3385, 2003.
[13] Copperrider, N., Thomas, T. Testing and analysis of Vehicle Rollover behavior[C], SAE Paper No. 900366, 1990.
[14] E. Dahlberg and A. Stensson. The Dynamic Rollover Threshold of Commercial Vehicles - a Sensitivity Study [J]. International Journal of Vehicle Design, 2006. 40(1-3):228-250.
[15] Sankar, S and Surial, S. A Sensitivity Analysis Approach for Fast Estimation of Rollover Stability of Heavy Articulated Vehicles during Steady State Turning [J]. Heavy Vehicle Systems, Int. J. of Vehicle Design, 1994, 1(3):282-303.
[16] Winkle, C.B. Rollover of Heavy Commercial Vehicles[C]. SAE Paper ISBN 0-7680-0626-0, 2001.
[17] Erik Dahlberg. Commercial Vehicle Stability-Focusing on Rollover [D]. Sweden: Royal Institute of Technology, 2001.
[18] Dahlberg, E. Yaw Instability Due to Longitudinal Load Transfer during Braking in a Curve[C]. SAE Paper No.1999-01-2952.
[19] Bolzern, P., Cheli, F. Estimation of the Non-Linear Suspension Tyre Cornering Forces from Experimential Road Test Data [J]. Vehicle System Dynamics, 1999, 31:23-34.
[20] R.D. Ervin, R.L. Nisonger. The Yaw Stability of Tractor-semitrailers During Cornering[R].The University of Michigan Highway Safety Research Institute UM-HSRI-79-21-2, June 1979.
[21] M.Bouteldja, Prediction and Detection of Jackknifing Problems for Tractor Semi-trailer[C]. Vehicle Power and Propulsion Conference, VPPC '06. IEEE, Windsor, England, UK, 2006.
[22] N.L. Azad, Analysis of Jackknifing in Articulated Steer[C]. Vehicle Power and Propulsion, IEEE Conference, 2005.
[23] Wen-Hou Ma, Worst-case Manoeuvres for the Rollover and Jackknife of articulated Vehicle[C]. American Control Conference, 1998.
[24] MichaelBall, Compiler: US7156410 [P/OL].2004-10-4.?http://www.google.com/patents.
[25] Gus Maskaleris, etal. Compiler: US 7156410[P/OL]. 2005-01-27[2007-01-2]. http://www.google.com/patents/.
[26] Yang X., A Closed-loop Driver/Vehicle Directional Dynamics Predictor [D], Canada: Concordia University, Apr. 1999.
[27] Gillespie T. D. and Sayers M. W,A Multibody Approach with Graphical User Interface for Simulating Truck Dynamic[C]. SAE Paper No.1999-01-3705, 1999.
[28] Mohammed B. and Jean W. Zu. Tractor-semitrailer model for vehicles carrying liquids [J]. Vehicle System Dynamics, November 2006, 44 (11): 871-885.
[29] Jamie Gertsch, Oliver Eichelhard. Simulation of Dynamic Rollover Threshold for Heavy Trucks[C]. SAE Paper No.2003-01-3385, 2003.
[30] Magnus G. and Olof L., A 9-DOF Tractor-semitrailer Dynamic Handling Model for Advanced Chassis Control Studies [J]. Vehicle System Dynamics, 2004, 41 (1):51-82.
[31] Y. He, A. Khajepour, J. Mcphee and X. Wang. Dynamic Modelling and Stability Analysis of Articulated Frame Steering Vehicles [J]. Int. J. of Vehicle System, 2005, 12 (1):28-59.
[32] E. Dahlberg and A. Stensson. The Dynamic Rollover Threshold of Commercial Vehicles - a Sensitivity Study [J]. International Journal of Vehicle Design, 2006, 40(1-3): 228-250.
[33] D.J.M. Sampson. Active Roll Control of Articulated Heavy Vehicle[R].Technical Report CUED/C-Mech/TR 82, January 2002.
[34] Detlev Neuyhaus. Vehicle Dynamics-Continuous Improvements in Vehcile Safety form ABS to Electronic Stability Control. SAE Paper, No.2005-26-065, 2005.
[35] Bo-Chiuan Chen. Rollover Warning for Articulated Heavy Vehicles Based on a Time-to-Rollover Metric [J]. Journal of Dynamic Systems, Measurement, and Control, September 2005, 127(3): 406-414.
[36] Arnaud J.P. Miege and David Cebon. Optimal roll control of an articulated vehicle: theory and model validation [J]. Vehicle System Dynamics, December 2005, 43(12), 867-893.
[37] Brain Jujnovich. Comparative Performance of Semi-trailer Steering Systems[C]. University of Cambridge, 7th International Symposium on Heavy Vehicle Weights and dimensions, 2002.
[38] Jianbo Lu, David Messih. An Enhancement to an Electronic Stability Control System to Include a Rollover Control Function[C]. SAE Paper No.2007-01-0809, 2007.
[39] Erwin Petersen. Vehicle Stability Control for Trucks and Buses[C].SAE Paper No.982782, 1998.
[40] Youngjoo Cho. A Control and Analysis of Vehicle Rollover Based on Electronic Stability Control[C]. SAE Paper No.2007-01-3566, 2007.
[41] Nasser Lashgarian Azad. An Active Control Device Based on Differential Braking for Articulated Steer Vehicles[C]. SAE Paper No.2006-01-3568, 2006.
[42] MacAdam, C.C. A Computer-Based Study of the Yaw/Roll Stability of Heavy Trucks Characterized By High Centers of Gravity[C]. SAE Paper No.821260, 1982.
[43] Preston-Thomas,J. and Woodrooffe,J.H.F. A Feasibility Study of a Rollover Warning Device for Heavy Trucks[R]. Transport Canada Publication No.TP 10610E, 1990.
[44] Rakhja,S.,and Piche,A. Development of Directional Stability Criteria for an Early Warning SafetyDevice[C]. SAE Paper No.902265, 1990.
[45] Andrzej G. Nalecz. An Investigation into Dynamic Measures of Vehicle Rollover Propensity[C]. SAE Paper No.930831, 1993.
[46] R.W. Goldman, M. El-Gindy, B.T. Kulakowski. Rollover dynamics of road vehicles: literature survey [J]. International Journal of Heavy Vehicle Systems, 2001, 8(2): 103-141.
[47] Liu, P. J., Rakheja, S., Ahmed, A. K. W. Detection of Dynamic Roll Instability of Heavy Vehicles for Open-Loop Rollover Control[C]. SAE Paper No. 973263, 1997.
[48] Ervin, R, Winkler, C.Two active systems for enhancing dynamic stability in heavy truck operations[R].Michigan University, Ann Arbor, Report No.UMTRI-98-39, 1999.
[49] Barnett, J. D., West, R. A New Load Sensor for Truck Self-Weighing Systems[C]. SAE paper No. 830103, 1983.
[50] Stability Dynamics Ltd. Lateral Acceleration Warning Device Testing[R]. Submitted for review to the Department of Public Safety, DFW International Airport, 1998.
[51] TNO Road-Vehicles Research Institute. Heavy Vehicle Rollover Stability & Safety[R].Brochure: Published by TNO, Netherlands.
[52] Chen Bo,Peng H.,Differential-Braking-Based Rollover Prevention for Sport Utility Vehicles with Human-in-the-loop Evaluations [J].Vehicle System Dynamics, 2001, 36(4-5):359-389.
[53] Trent, V., Greene, M., A Genetic Algorithm Predictor for Vehicle Rollover[C]. IECON 02, IEEE 28th Annual Conference, 2002.
[54] Ralf Eger, Uwe Kiencke. Modeling of Rollover Sequences [J], Control Engineering Practice, 2003, 11(2):209-216.
[55] Dongyoon Hyun, Reza Langari. Modeling to Predict Rollover Threat of Tractor-Semitrailers [J]. Vehicle System Dynamics, 2003, 39(6):401-414.
[56] Jangyeol Yoon, Dongshin Kim. Design of a Rollover Index-based Vehicle Stability Control Scheme [J]. Vehicle System Dynamics, 2007, 45(5):459-475.
[57] H.Yu, Heavy Duty Vehicle Rollover Detection and Active Roll Control. Vehicle System Dynamics [J]. 2008, 46(6):451-470.
[58] Stavroff. Compiler: US7477972 [P/OL].2005-01-08[2009-01-13] http://www.freepatentsonline.?Com/7477972.html.
[59] Dunwoody, A. B. , Froese, S. Active Roll Control of a Semi-Trailer[C]. SAE Paper No.933045, 1993.
[60] Lin,R.C.,An Investigation of Active Roll Control for Heavy Vehicle Suspensions[D]. Cambridge: Cambridge University Engineering Department, 1994.
[61] Lin,R.C.,Cebon,D.,and Cole D.J. Active Roll Control of Articulated Vehicles[J]. Vehicle System Dynamics, 1996, 26(1):17-43.
[62] D. J. M. Sampson, D. Cebon. Active Roll Control of Single Unit Heavy Road Vehicles[J]. Vehicle System Dynamics, 2003 , 40(4):229-270.
[63] D. J. M. Sampson, D. Cebon. Achievable Roll Stability of Heavy Road Vehicles[J]. IMechE J. Automobile Engineering, 2003 , 217(4):269-287.
[64] R. L. Roebuck, A systems approach to controlled heavy vehicle suspensions [J]. Int. J. of Heavy Vehicle Systems, 2005, 12(3):169-192.
[65] Zhu, tianjun, Active roll control of heavy tractor- semitrailer based on adaptive gain scheduling control[C]. International Colloquium on Computing, Communication, Control, and Management, 2008.
[66] Maria Jesus Lopez Boada. Active roll control using reinforcement learning for a single unit heavyvehicle [J]. International Journal of Heavy Vehicle Systems, 2009, 16(4):412-430.
[67] N. Hata, S. Hasegawa, S. Takahashi, K. Ito, and T. Fujishirs. A control method for 4WS truck to suppress excursion of a body rear overhang[C]. SAE Paper No.892521, 1989.
[68] I. Notsu, S. Takahashi, and Y. Watanabe, Investigation into turning behavior of semi-trailer with additional trailer-wheel steering– a control method for trailer-wheel steering to minimize trailer rear - overhang swing in short turns[C].SAE Paper No.912570: 1007–1013.
[69] CVDC, Cambridge Vehicle Dynamics Consortium. Available at http://www.cvdc.org.
[70] B.A. Jujnovich. Active steering of articulated vehicles[D]. Cambridge: Cambridge University Engineering Department, 2005.
[71] C.Cheng, D.Cebon. Improving roll stability of articulated heavy vehicle using active semi-trailer steering[J]. Vehicle System Dynamics, 2008, 46(Supplement):373-388.
[72] Péter Gáspár,Model-Based Control Design of Integrated Vehicle Systems[J]. Journal of Studies in Computational Intelligence, 2009, 243:103-119.
[73] Detlev Neuhaus and Jens Willms. Vehicle Dynamics-Continuous Improvements in Vehicle Safety from ABS to Electronic Stability Control. SAE Paper No.2005-26-065,2005.
[74] Daniel D. Eisele,Huei Peng. Vehicle Dynamics Control with Rollover Prevention for Articulated Heavy Trucks[C]. Proceedings of AVEC2000, 2000.
[75] Pahngroc Oh. Stability Control of Combination Vehicle[C]. SAE Paper No. 2001-01-0138, 2001.
[76] Wang huiyi. Modelling and Simulation of Electric Stability Program for the Passenger Car[C]. SAE Paper No. 2004-01-2090,2004.
[77] Avesta Goodarzi.Integrated Yaw and Roll Moments Control for Articulated Vehicles[C]. SAE paper No.2009-01-2874, 2009.
[78]何锋.非满载罐式汽车静态侧翻模型的参数敏感性分析.贵州工业大学学报(自然科学版),33 (5), 2004.
[79]何锋,杨利勇.非满载罐式汽车准静态侧翻阈值的计算与分析.贵州师范大学学报(自然科学版), 22 (2), 2004.
[80]杨利勇.汽车侧翻模拟及控制方法的研究[D].贵州:贵州工业大学硕士学位论文,2004年.
[81]黄朝胜.重型载货汽车底盘性能控制研究.博士学位论文.长春:吉林大学博士学位论文,2005年.
[82]张先奎.基于姿态监测的汽车侧翻预警及控制研究.南京:南京航空航天大学硕士学位论文,2007年.
[83]成光华.基于TTR的汽车侧翻预警器设计.南京:南京航空航天大学硕士学位论文,2008年.
[84]田骅.消防车侧翻稳定性及虚拟试验研究.上海:上海交通大学硕士学位论文,2008年.
[85]刘晓为.汽车侧翻报警装置,中国,101140199. 2007-9-14.
[86]刘静.液罐车防侧翻姿态控制与报警策略仿真分析.南京:南京林业大学硕士学位论文,2009年.
[87]宗长富,麦莉.重型半挂车的动力学建模及侧倾稳定性分析[J].辽宁工业大学学报, 2008.
[88]黄杰燕.基于TTR预警的重型车辆防侧翻控制系统的研究.长春:吉林大学硕士学位论文,2008年.
[89]朱德军.车辆VSC的控制算法和硬件实现研究[D].南京:东南大学硕士学位论文,2005年.
[90]刘兆勇.商用车电子稳定性控制系统初步研究[D].上海:同济大学硕士学位论文,2007年.
[91]吴艳华. ESP在中型越野汽车上的应用研究[D].武汉:武汉理工大学硕士学位论文,2008年.
[92]于尧.基于差动制动的半挂汽车列车稳定性仿真与控制研究[D].长春:吉林大学硕士学位论文,2007年.
[93]张建国.半挂汽车列车制动稳定性仿真分析[D].长春:吉林大学硕士学位论文,2007年.
[94]黄乾生.基于差动制动的半挂汽车列车主动安全技术研究.长春:吉林大学硕士学位论文,2009年.
[95] Tianjun zhu, Yaw/Roll Stability Modeling Analyses and Control of Heavy Tractor- SemiTrailer[C] .SAE Paper No. 2007-01-3574, 2007.
[96]黄朝胜.牵引车-半挂车列车动力学仿真研究.汽车工程,27(6), 2005:744-750.
[97]朱天军,郑红艳.重型半挂车的ADAMS建模及稳定性分析.河北工程大学学报(自然科学版), 24(2), 2007: 62-64.
[98]周淑文等.半挂汽车列车高速紧急避障稳定性控制研究.汽车工程,31(2), 2009:161-165.
[99] Christopher B. Winkler, Paul S. Fancher. Parametric Analysis of Heavy Duty Truck Dynamic Stablity [R]. Transportation Research Institute the University of Michigan UMTRI-83-13/1, 1993.
[100]Chris Winkler, Rollover of Heavy Commercail vehicle [J]. UMTRI Research Review, 31(4), 2000:1-20.
[101] SAE J670: 2008, (R) Vehicle Dynamics Terminology SAE J670, 2008.
[102] Mechanical Simulation Corperation,Trucksim 7.0帮助文档,2008.
[103] International Standard ISO 14793:2003(E), Road vehicles—Heavy commercial vehicles and buses—Lateral transient response test methods, 2003.
[104] International Standard ISO 14792:2003(E), Road vehicles—Heavy commercial vehicles and buses—Steady-state circular tests, 2003.
[105] Tsourapas, V.; Piyabongkarn, D.,New method of identifying real-time Predictive Lateral load Transfer Ratio for rollover prevention systems. American Control Conference 2009, 2009.
[106] Odenthal D. Nonlinear Steering and Braking Control for Vehicle Rollover avoidance[C]. Proceedings of European Control Conference, Kalsruhe, Germany, 1999.
[107] Miege. Active Roll Control of an Experimental Articulated Vehicle [D]. Cambridge: Cambridge University Engineering Department, 2003.
[108]张武,王玲芳,孙鹏.基于MATLAB的线性控制系统分析与设计(第五版)[M].北京:机械工业出版社,2008.
[109]郑大钟.线性系统理论(第二版)[M].北京:清华大学出版社. 2003.
[110]付梦印,邓志红,张继伟. Kalman滤波理论及其在导航系统中的应用[M].北京:科学出版社,2003.
[111]方泳龙.汽车制动理论与设计[M].北京:国防工业出版社,2005.
[112]陈萌三,余强.汽车动力学(第四版)[M].北京:清华大学出版社,2009.
[113]余志生.汽车理论(第3版)[M].北京:清华大学出版社,2005.
[114]郑扣根,唐杰,何通能.嵌入式系统—使用68HC12和HCS12的设计与应用[M].北京:电子工业出版社,2006.
[115]邵贝贝.单片机嵌入式应用的在线开发方法[M].北京:清华大学出版社,2004.
[116]王宜怀,刘晓升.嵌入式系统—使用HCS12微控制器的设计与应用[M].北京:北京航空航天大学出版社,2008.
[117] Palkovic, L.,Semsey. A. Roll-over Prevention System for Commercial Vehicles-Additional Sensorless Function of the Electronic Brake System. AVEC’98, Paper No.9837409, 1998.
[118] Palkovic, L., Semsey, A. Roll-over Prevention System for Commercial Vehicles-Additional Sensorless Function of the Electronic Brake System [J]. Vehicle System Dynamics,1999, 32(4) :285-297.
[119] Wielenga T.J., A Method for Reducing on-road Rollovers: Anti-rollover Braking[C]. SAE Paper No.1999-01-0123, 1999.
[120]吴敏,桂卫华,何勇.?现代鲁棒控制(第二版)[M].长沙:中南大学出版社,2008.
[121]姜长生,吴庆宪,陈文华.现代鲁棒控制基础[M].哈尔滨:哈尔滨工业大学出版社,2008.
[122]黄曼磊.鲁棒控制理论及应用[M].哈尔滨:哈尔滨工业大学出版社,2007.
[123] J. Ackermann and D. Odenthal, Robust Steering Control for Active Rollover Avoidance of Vehicles with elevated center of Gravity[C]. Proceeding International Conference on Advances in Vehicle Control and Safety, 1998.
[124] D.odenthal, T. Nonlinear Steering and Braking Control for Vehicle Rollover Avoidance[C]. European Control Conference, 1999.
[125] Christopher R. Carlson. Optimal Rollover Prevention with Steer by Wire and Differential Braking[C]. ASME International Mechanical Engineering Congress, 2003.
[126]郭孔辉.汽车操纵动力学[M].长春:吉林科学技术出版社. 1991.
[127]李志虎.基于LMI的时滞系统的鲁棒控制研究[D].上海:上海交通大学博士学位论文,2001年.
[128]柳嘉哲.估算μ‐合成系统中最大结构奇异值的数值方法之比较[D].台湾:国立成功大学硕士论文,
[129]俞立.鲁棒控制—线性矩阵不等式处理方法[M].北京:清华大学出版社. 2002年.
[130] S.P. Boyd, L. Linear Matrix Inequalities in System and Control Theory [M]. SIMA: Philadelphia, 1994.
[131] Pascal Gahinet. LMI Control Toolbox for Use with MATLAB. The Mathworks User’s Guide, 2006.
[132] Stephen Boyd, Laurent El Ghaoui. Linear Matrix Inequalities in System and Control Theory [M]. Philadelphia: the Society for Industrial and Applied Mathematics, 1994.
[133]刘金琨.先进PID控制及其MATLAB仿真(第二版)[M].北京:电子工业出版社,2004.
[134]陶永华.新型PID控制及其应用(第二版) [M].北京:机械工业出版社,2004.
[135] Pottinger, M.G... Free-Rolling Conering, Straight-Line Braking, and Combined Cornering and Braking for a 295/75/275/80 R22.5 Drive, Axle Tire. Smithers Scientific Services Inc., Ravenna, Ohio.
[136]邢继祥,张春蕊,徐洪泽.最优控制应用基础[M].北京:科学出版社,2003.
[137]王朝珠,秦化淑.最优控制理论. [M].北京:科学出版社,2005.
[138]李国勇,张翠平,郭红戈,曲兵妮.最优控制理论及参数优化[M].北京:国防工业出版社,2006.
[139]王丰尧.滑模变结构控制[M].北京:机械工业出版社,2007.?
[140]毛艳娥.?汽车ABS滑模变结构控制方法的研究[J].?系统仿真学报,20(5),2008:1243-1245.?
[141] G Celentano, R Iervolino, S Porreca. Car Brake System Modeling for Longitudinal Control Design [J]. Control Applications, IEEE, 2003, 1(1): 25-30.
[142] K Chun, M Sunwoo. Wheel Slip Control with Moving Sliding Surface for Traction Control System [J]. International Journal of Automotive Technology, 2004, 5(2): 123-133.
[143]刘金琨.?滑模变结构控制MATLAB仿真[M].北京:清华大学出版社,2005.
[144] GB/T 12534-90:汽车道路试验方法通则.
[145] GB/T 6323.6-94:汽车操纵稳定性试验方法—稳态回转试验.
[146] GB/T 6323.2-94:汽车操纵稳定性试验方法—转向瞬态响应试验.
[147]吉林大学汽车动态模拟国家重点实验室技术报告:商用车操纵稳定性场地试验大纲.
[2]程振彪.世界载货汽车工业最新发展动态[J].汽车科技, 2001, 1(1):4-7.
[3] Linda Jarossi, Anne Matteson. Trucks involved in fatal accidents fact book 2006[R]. The University of Michigan Transportation Research Institute, Ann Arbor, 2008..
[4] M.Frimberger et al. Influnces of parameters at vehicle rollover[C].SAE Paper No. 2000-01-2669, 2000.
[5]许洪国,刘宏飞等.汽车列车横向稳定性研究[J].公路交通科技,2006,23(2):141-150.
[6] Bouteldja, M, Koita, A.Prediction and Detection of Jackknifing problems for Tractor Semi-Trailer.Vehicle Power and Propulsion Conference[C]. VPPC’06.IEEE, 2006.
[7]慧典市场研究报告网.2009年中国重型卡车行业研究报告[R].2009.10.
[8] Chris Winkler.UMTRI Research Review [J].University of Michigan Transportation Research Institute, 2000, 31(4):1-20.
[9] C.B. Winkler, R.D. Ervin. Rollover of Heavy Commercial Vehicles[R]. The University of Michigan Transportation Research Institute UMTRI-99-19, August, 1999.
[10] R.D. Ervin, C.B. Winkler, C., Fancher, Two Active Systems for Enhancing Dynamic Stability in Heavy Truck Operations[R].The University of Michigan Transportation Research Institute UMTRI-98-39, July, 1998.
[11] Y. He, A. Khajepour, J. Mcphee and X. Wang. Dynamic Modelling and Stability Analysis of Articulated Frame Steering Vehicles [J]. Int. J. of Vehicle System, 2005, 12(1):28-59.
[12] Jamie Gertsch, Oliver Eichelhard. Simulation of Dynamic Rollover Threshold for Heavy Trucks[C]. SAE Paper No.2003-01-3385, 2003.
[13] Copperrider, N., Thomas, T. Testing and analysis of Vehicle Rollover behavior[C], SAE Paper No. 900366, 1990.
[14] E. Dahlberg and A. Stensson. The Dynamic Rollover Threshold of Commercial Vehicles - a Sensitivity Study [J]. International Journal of Vehicle Design, 2006. 40(1-3):228-250.
[15] Sankar, S and Surial, S. A Sensitivity Analysis Approach for Fast Estimation of Rollover Stability of Heavy Articulated Vehicles during Steady State Turning [J]. Heavy Vehicle Systems, Int. J. of Vehicle Design, 1994, 1(3):282-303.
[16] Winkle, C.B. Rollover of Heavy Commercial Vehicles[C]. SAE Paper ISBN 0-7680-0626-0, 2001.
[17] Erik Dahlberg. Commercial Vehicle Stability-Focusing on Rollover [D]. Sweden: Royal Institute of Technology, 2001.
[18] Dahlberg, E. Yaw Instability Due to Longitudinal Load Transfer during Braking in a Curve[C]. SAE Paper No.1999-01-2952.
[19] Bolzern, P., Cheli, F. Estimation of the Non-Linear Suspension Tyre Cornering Forces from Experimential Road Test Data [J]. Vehicle System Dynamics, 1999, 31:23-34.
[20] R.D. Ervin, R.L. Nisonger. The Yaw Stability of Tractor-semitrailers During Cornering[R].The University of Michigan Highway Safety Research Institute UM-HSRI-79-21-2, June 1979.
[21] M.Bouteldja, Prediction and Detection of Jackknifing Problems for Tractor Semi-trailer[C]. Vehicle Power and Propulsion Conference, VPPC '06. IEEE, Windsor, England, UK, 2006.
[22] N.L. Azad, Analysis of Jackknifing in Articulated Steer[C]. Vehicle Power and Propulsion, IEEE Conference, 2005.
[23] Wen-Hou Ma, Worst-case Manoeuvres for the Rollover and Jackknife of articulated Vehicle[C]. American Control Conference, 1998.
[24] MichaelBall, Compiler: US7156410 [P/OL].2004-10-4.?http://www.google.com/patents.
[25] Gus Maskaleris, etal. Compiler: US 7156410[P/OL]. 2005-01-27[2007-01-2]. http://www.google.com/patents/.
[26] Yang X., A Closed-loop Driver/Vehicle Directional Dynamics Predictor [D], Canada: Concordia University, Apr. 1999.
[27] Gillespie T. D. and Sayers M. W,A Multibody Approach with Graphical User Interface for Simulating Truck Dynamic[C]. SAE Paper No.1999-01-3705, 1999.
[28] Mohammed B. and Jean W. Zu. Tractor-semitrailer model for vehicles carrying liquids [J]. Vehicle System Dynamics, November 2006, 44 (11): 871-885.
[29] Jamie Gertsch, Oliver Eichelhard. Simulation of Dynamic Rollover Threshold for Heavy Trucks[C]. SAE Paper No.2003-01-3385, 2003.
[30] Magnus G. and Olof L., A 9-DOF Tractor-semitrailer Dynamic Handling Model for Advanced Chassis Control Studies [J]. Vehicle System Dynamics, 2004, 41 (1):51-82.
[31] Y. He, A. Khajepour, J. Mcphee and X. Wang. Dynamic Modelling and Stability Analysis of Articulated Frame Steering Vehicles [J]. Int. J. of Vehicle System, 2005, 12 (1):28-59.
[32] E. Dahlberg and A. Stensson. The Dynamic Rollover Threshold of Commercial Vehicles - a Sensitivity Study [J]. International Journal of Vehicle Design, 2006, 40(1-3): 228-250.
[33] D.J.M. Sampson. Active Roll Control of Articulated Heavy Vehicle[R].Technical Report CUED/C-Mech/TR 82, January 2002.
[34] Detlev Neuyhaus. Vehicle Dynamics-Continuous Improvements in Vehcile Safety form ABS to Electronic Stability Control. SAE Paper, No.2005-26-065, 2005.
[35] Bo-Chiuan Chen. Rollover Warning for Articulated Heavy Vehicles Based on a Time-to-Rollover Metric [J]. Journal of Dynamic Systems, Measurement, and Control, September 2005, 127(3): 406-414.
[36] Arnaud J.P. Miege and David Cebon. Optimal roll control of an articulated vehicle: theory and model validation [J]. Vehicle System Dynamics, December 2005, 43(12), 867-893.
[37] Brain Jujnovich. Comparative Performance of Semi-trailer Steering Systems[C]. University of Cambridge, 7th International Symposium on Heavy Vehicle Weights and dimensions, 2002.
[38] Jianbo Lu, David Messih. An Enhancement to an Electronic Stability Control System to Include a Rollover Control Function[C]. SAE Paper No.2007-01-0809, 2007.
[39] Erwin Petersen. Vehicle Stability Control for Trucks and Buses[C].SAE Paper No.982782, 1998.
[40] Youngjoo Cho. A Control and Analysis of Vehicle Rollover Based on Electronic Stability Control[C]. SAE Paper No.2007-01-3566, 2007.
[41] Nasser Lashgarian Azad. An Active Control Device Based on Differential Braking for Articulated Steer Vehicles[C]. SAE Paper No.2006-01-3568, 2006.
[42] MacAdam, C.C. A Computer-Based Study of the Yaw/Roll Stability of Heavy Trucks Characterized By High Centers of Gravity[C]. SAE Paper No.821260, 1982.
[43] Preston-Thomas,J. and Woodrooffe,J.H.F. A Feasibility Study of a Rollover Warning Device for Heavy Trucks[R]. Transport Canada Publication No.TP 10610E, 1990.
[44] Rakhja,S.,and Piche,A. Development of Directional Stability Criteria for an Early Warning SafetyDevice[C]. SAE Paper No.902265, 1990.
[45] Andrzej G. Nalecz. An Investigation into Dynamic Measures of Vehicle Rollover Propensity[C]. SAE Paper No.930831, 1993.
[46] R.W. Goldman, M. El-Gindy, B.T. Kulakowski. Rollover dynamics of road vehicles: literature survey [J]. International Journal of Heavy Vehicle Systems, 2001, 8(2): 103-141.
[47] Liu, P. J., Rakheja, S., Ahmed, A. K. W. Detection of Dynamic Roll Instability of Heavy Vehicles for Open-Loop Rollover Control[C]. SAE Paper No. 973263, 1997.
[48] Ervin, R, Winkler, C.Two active systems for enhancing dynamic stability in heavy truck operations[R].Michigan University, Ann Arbor, Report No.UMTRI-98-39, 1999.
[49] Barnett, J. D., West, R. A New Load Sensor for Truck Self-Weighing Systems[C]. SAE paper No. 830103, 1983.
[50] Stability Dynamics Ltd. Lateral Acceleration Warning Device Testing[R]. Submitted for review to the Department of Public Safety, DFW International Airport, 1998.
[51] TNO Road-Vehicles Research Institute. Heavy Vehicle Rollover Stability & Safety[R].Brochure: Published by TNO, Netherlands.
[52] Chen Bo,Peng H.,Differential-Braking-Based Rollover Prevention for Sport Utility Vehicles with Human-in-the-loop Evaluations [J].Vehicle System Dynamics, 2001, 36(4-5):359-389.
[53] Trent, V., Greene, M., A Genetic Algorithm Predictor for Vehicle Rollover[C]. IECON 02, IEEE 28th Annual Conference, 2002.
[54] Ralf Eger, Uwe Kiencke. Modeling of Rollover Sequences [J], Control Engineering Practice, 2003, 11(2):209-216.
[55] Dongyoon Hyun, Reza Langari. Modeling to Predict Rollover Threat of Tractor-Semitrailers [J]. Vehicle System Dynamics, 2003, 39(6):401-414.
[56] Jangyeol Yoon, Dongshin Kim. Design of a Rollover Index-based Vehicle Stability Control Scheme [J]. Vehicle System Dynamics, 2007, 45(5):459-475.
[57] H.Yu, Heavy Duty Vehicle Rollover Detection and Active Roll Control. Vehicle System Dynamics [J]. 2008, 46(6):451-470.
[58] Stavroff. Compiler: US7477972 [P/OL].2005-01-08[2009-01-13] http://www.freepatentsonline.?Com/7477972.html.
[59] Dunwoody, A. B. , Froese, S. Active Roll Control of a Semi-Trailer[C]. SAE Paper No.933045, 1993.
[60] Lin,R.C.,An Investigation of Active Roll Control for Heavy Vehicle Suspensions[D]. Cambridge: Cambridge University Engineering Department, 1994.
[61] Lin,R.C.,Cebon,D.,and Cole D.J. Active Roll Control of Articulated Vehicles[J]. Vehicle System Dynamics, 1996, 26(1):17-43.
[62] D. J. M. Sampson, D. Cebon. Active Roll Control of Single Unit Heavy Road Vehicles[J]. Vehicle System Dynamics, 2003 , 40(4):229-270.
[63] D. J. M. Sampson, D. Cebon. Achievable Roll Stability of Heavy Road Vehicles[J]. IMechE J. Automobile Engineering, 2003 , 217(4):269-287.
[64] R. L. Roebuck, A systems approach to controlled heavy vehicle suspensions [J]. Int. J. of Heavy Vehicle Systems, 2005, 12(3):169-192.
[65] Zhu, tianjun, Active roll control of heavy tractor- semitrailer based on adaptive gain scheduling control[C]. International Colloquium on Computing, Communication, Control, and Management, 2008.
[66] Maria Jesus Lopez Boada. Active roll control using reinforcement learning for a single unit heavyvehicle [J]. International Journal of Heavy Vehicle Systems, 2009, 16(4):412-430.
[67] N. Hata, S. Hasegawa, S. Takahashi, K. Ito, and T. Fujishirs. A control method for 4WS truck to suppress excursion of a body rear overhang[C]. SAE Paper No.892521, 1989.
[68] I. Notsu, S. Takahashi, and Y. Watanabe, Investigation into turning behavior of semi-trailer with additional trailer-wheel steering– a control method for trailer-wheel steering to minimize trailer rear - overhang swing in short turns[C].SAE Paper No.912570: 1007–1013.
[69] CVDC, Cambridge Vehicle Dynamics Consortium. Available at http://www.cvdc.org.
[70] B.A. Jujnovich. Active steering of articulated vehicles[D]. Cambridge: Cambridge University Engineering Department, 2005.
[71] C.Cheng, D.Cebon. Improving roll stability of articulated heavy vehicle using active semi-trailer steering[J]. Vehicle System Dynamics, 2008, 46(Supplement):373-388.
[72] Péter Gáspár,Model-Based Control Design of Integrated Vehicle Systems[J]. Journal of Studies in Computational Intelligence, 2009, 243:103-119.
[73] Detlev Neuhaus and Jens Willms. Vehicle Dynamics-Continuous Improvements in Vehicle Safety from ABS to Electronic Stability Control. SAE Paper No.2005-26-065,2005.
[74] Daniel D. Eisele,Huei Peng. Vehicle Dynamics Control with Rollover Prevention for Articulated Heavy Trucks[C]. Proceedings of AVEC2000, 2000.
[75] Pahngroc Oh. Stability Control of Combination Vehicle[C]. SAE Paper No. 2001-01-0138, 2001.
[76] Wang huiyi. Modelling and Simulation of Electric Stability Program for the Passenger Car[C]. SAE Paper No. 2004-01-2090,2004.
[77] Avesta Goodarzi.Integrated Yaw and Roll Moments Control for Articulated Vehicles[C]. SAE paper No.2009-01-2874, 2009.
[78]何锋.非满载罐式汽车静态侧翻模型的参数敏感性分析.贵州工业大学学报(自然科学版),33 (5), 2004.
[79]何锋,杨利勇.非满载罐式汽车准静态侧翻阈值的计算与分析.贵州师范大学学报(自然科学版), 22 (2), 2004.
[80]杨利勇.汽车侧翻模拟及控制方法的研究[D].贵州:贵州工业大学硕士学位论文,2004年.
[81]黄朝胜.重型载货汽车底盘性能控制研究.博士学位论文.长春:吉林大学博士学位论文,2005年.
[82]张先奎.基于姿态监测的汽车侧翻预警及控制研究.南京:南京航空航天大学硕士学位论文,2007年.
[83]成光华.基于TTR的汽车侧翻预警器设计.南京:南京航空航天大学硕士学位论文,2008年.
[84]田骅.消防车侧翻稳定性及虚拟试验研究.上海:上海交通大学硕士学位论文,2008年.
[85]刘晓为.汽车侧翻报警装置,中国,101140199. 2007-9-14.
[86]刘静.液罐车防侧翻姿态控制与报警策略仿真分析.南京:南京林业大学硕士学位论文,2009年.
[87]宗长富,麦莉.重型半挂车的动力学建模及侧倾稳定性分析[J].辽宁工业大学学报, 2008.
[88]黄杰燕.基于TTR预警的重型车辆防侧翻控制系统的研究.长春:吉林大学硕士学位论文,2008年.
[89]朱德军.车辆VSC的控制算法和硬件实现研究[D].南京:东南大学硕士学位论文,2005年.
[90]刘兆勇.商用车电子稳定性控制系统初步研究[D].上海:同济大学硕士学位论文,2007年.
[91]吴艳华. ESP在中型越野汽车上的应用研究[D].武汉:武汉理工大学硕士学位论文,2008年.
[92]于尧.基于差动制动的半挂汽车列车稳定性仿真与控制研究[D].长春:吉林大学硕士学位论文,2007年.
[93]张建国.半挂汽车列车制动稳定性仿真分析[D].长春:吉林大学硕士学位论文,2007年.
[94]黄乾生.基于差动制动的半挂汽车列车主动安全技术研究.长春:吉林大学硕士学位论文,2009年.
[95] Tianjun zhu, Yaw/Roll Stability Modeling Analyses and Control of Heavy Tractor- SemiTrailer[C] .SAE Paper No. 2007-01-3574, 2007.
[96]黄朝胜.牵引车-半挂车列车动力学仿真研究.汽车工程,27(6), 2005:744-750.
[97]朱天军,郑红艳.重型半挂车的ADAMS建模及稳定性分析.河北工程大学学报(自然科学版), 24(2), 2007: 62-64.
[98]周淑文等.半挂汽车列车高速紧急避障稳定性控制研究.汽车工程,31(2), 2009:161-165.
[99] Christopher B. Winkler, Paul S. Fancher. Parametric Analysis of Heavy Duty Truck Dynamic Stablity [R]. Transportation Research Institute the University of Michigan UMTRI-83-13/1, 1993.
[100]Chris Winkler, Rollover of Heavy Commercail vehicle [J]. UMTRI Research Review, 31(4), 2000:1-20.
[101] SAE J670: 2008, (R) Vehicle Dynamics Terminology SAE J670, 2008.
[102] Mechanical Simulation Corperation,Trucksim 7.0帮助文档,2008.
[103] International Standard ISO 14793:2003(E), Road vehicles—Heavy commercial vehicles and buses—Lateral transient response test methods, 2003.
[104] International Standard ISO 14792:2003(E), Road vehicles—Heavy commercial vehicles and buses—Steady-state circular tests, 2003.
[105] Tsourapas, V.; Piyabongkarn, D.,New method of identifying real-time Predictive Lateral load Transfer Ratio for rollover prevention systems. American Control Conference 2009, 2009.
[106] Odenthal D. Nonlinear Steering and Braking Control for Vehicle Rollover avoidance[C]. Proceedings of European Control Conference, Kalsruhe, Germany, 1999.
[107] Miege. Active Roll Control of an Experimental Articulated Vehicle [D]. Cambridge: Cambridge University Engineering Department, 2003.
[108]张武,王玲芳,孙鹏.基于MATLAB的线性控制系统分析与设计(第五版)[M].北京:机械工业出版社,2008.
[109]郑大钟.线性系统理论(第二版)[M].北京:清华大学出版社. 2003.
[110]付梦印,邓志红,张继伟. Kalman滤波理论及其在导航系统中的应用[M].北京:科学出版社,2003.
[111]方泳龙.汽车制动理论与设计[M].北京:国防工业出版社,2005.
[112]陈萌三,余强.汽车动力学(第四版)[M].北京:清华大学出版社,2009.
[113]余志生.汽车理论(第3版)[M].北京:清华大学出版社,2005.
[114]郑扣根,唐杰,何通能.嵌入式系统—使用68HC12和HCS12的设计与应用[M].北京:电子工业出版社,2006.
[115]邵贝贝.单片机嵌入式应用的在线开发方法[M].北京:清华大学出版社,2004.
[116]王宜怀,刘晓升.嵌入式系统—使用HCS12微控制器的设计与应用[M].北京:北京航空航天大学出版社,2008.
[117] Palkovic, L.,Semsey. A. Roll-over Prevention System for Commercial Vehicles-Additional Sensorless Function of the Electronic Brake System. AVEC’98, Paper No.9837409, 1998.
[118] Palkovic, L., Semsey, A. Roll-over Prevention System for Commercial Vehicles-Additional Sensorless Function of the Electronic Brake System [J]. Vehicle System Dynamics,1999, 32(4) :285-297.
[119] Wielenga T.J., A Method for Reducing on-road Rollovers: Anti-rollover Braking[C]. SAE Paper No.1999-01-0123, 1999.
[120]吴敏,桂卫华,何勇.?现代鲁棒控制(第二版)[M].长沙:中南大学出版社,2008.
[121]姜长生,吴庆宪,陈文华.现代鲁棒控制基础[M].哈尔滨:哈尔滨工业大学出版社,2008.
[122]黄曼磊.鲁棒控制理论及应用[M].哈尔滨:哈尔滨工业大学出版社,2007.
[123] J. Ackermann and D. Odenthal, Robust Steering Control for Active Rollover Avoidance of Vehicles with elevated center of Gravity[C]. Proceeding International Conference on Advances in Vehicle Control and Safety, 1998.
[124] D.odenthal, T. Nonlinear Steering and Braking Control for Vehicle Rollover Avoidance[C]. European Control Conference, 1999.
[125] Christopher R. Carlson. Optimal Rollover Prevention with Steer by Wire and Differential Braking[C]. ASME International Mechanical Engineering Congress, 2003.
[126]郭孔辉.汽车操纵动力学[M].长春:吉林科学技术出版社. 1991.
[127]李志虎.基于LMI的时滞系统的鲁棒控制研究[D].上海:上海交通大学博士学位论文,2001年.
[128]柳嘉哲.估算μ‐合成系统中最大结构奇异值的数值方法之比较[D].台湾:国立成功大学硕士论文,
[129]俞立.鲁棒控制—线性矩阵不等式处理方法[M].北京:清华大学出版社. 2002年.
[130] S.P. Boyd, L. Linear Matrix Inequalities in System and Control Theory [M]. SIMA: Philadelphia, 1994.
[131] Pascal Gahinet. LMI Control Toolbox for Use with MATLAB. The Mathworks User’s Guide, 2006.
[132] Stephen Boyd, Laurent El Ghaoui. Linear Matrix Inequalities in System and Control Theory [M]. Philadelphia: the Society for Industrial and Applied Mathematics, 1994.
[133]刘金琨.先进PID控制及其MATLAB仿真(第二版)[M].北京:电子工业出版社,2004.
[134]陶永华.新型PID控制及其应用(第二版) [M].北京:机械工业出版社,2004.
[135] Pottinger, M.G... Free-Rolling Conering, Straight-Line Braking, and Combined Cornering and Braking for a 295/75/275/80 R22.5 Drive, Axle Tire. Smithers Scientific Services Inc., Ravenna, Ohio.
[136]邢继祥,张春蕊,徐洪泽.最优控制应用基础[M].北京:科学出版社,2003.
[137]王朝珠,秦化淑.最优控制理论. [M].北京:科学出版社,2005.
[138]李国勇,张翠平,郭红戈,曲兵妮.最优控制理论及参数优化[M].北京:国防工业出版社,2006.
[139]王丰尧.滑模变结构控制[M].北京:机械工业出版社,2007.?
[140]毛艳娥.?汽车ABS滑模变结构控制方法的研究[J].?系统仿真学报,20(5),2008:1243-1245.?
[141] G Celentano, R Iervolino, S Porreca. Car Brake System Modeling for Longitudinal Control Design [J]. Control Applications, IEEE, 2003, 1(1): 25-30.
[142] K Chun, M Sunwoo. Wheel Slip Control with Moving Sliding Surface for Traction Control System [J]. International Journal of Automotive Technology, 2004, 5(2): 123-133.
[143]刘金琨.?滑模变结构控制MATLAB仿真[M].北京:清华大学出版社,2005.
[144] GB/T 12534-90:汽车道路试验方法通则.
[145] GB/T 6323.6-94:汽车操纵稳定性试验方法—稳态回转试验.
[146] GB/T 6323.2-94:汽车操纵稳定性试验方法—转向瞬态响应试验.
[147]吉林大学汽车动态模拟国家重点实验室技术报告:商用车操纵稳定性场地试验大纲.