关键词: 爆胎；对开路面；滑模控制；差动制动；车辆稳定性

Abstract: For the yaw instability problem of vehicles after tire blowout on split-μ road, a sliding mode control strategy based on differential braking is proposed. Based on the difference of adhesion coefficients on split-mu road, a 7-degrees of freedom (7-DOF) vehicle dynamics model with Pacejka tire model is established, and a blowout tire force degradation mechanism is introduced to simulate and control the vehicle after blowout. Taking the yaw rate error as the control variable to construct the sliding mode surface, the controller is designed based on the exponential reaching law, and additional yaw moment is generated through differential braking to gradually maintain vehicle stability. Based on Simulink and CarSim co-simulation platform, front left tire (65 km/h) blowout, rear right tire (65 km/h) blowout, front left tire (100 km/h) blowout under split-μ conditions are validated for sliding mode control method. The simulation results show, without driver control, the vehicle lateral distance with control method can be reduced to less than 0.8 m. And peak yaw rate can be also reduced effectively. The proposed method provides an effective engineering solution for vehicle driving safety control under split-μ road tire blowout conditions, and the implementation of this control strategy is also relatively simple in engineering.

Key words: tire blowout; split-μ road; sliding mode control; differential braking; vehicle stability