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

摘要： 针对车辆在对开路面发生爆胎后的车辆横摆失稳问题，提出了一种基于滑模变结构和 差动制动的稳定性控制策略。基于对开路面附着系数差异，建立了含 Pacejka 轮胎模型的七自 由度（7-DOF）整车动力学模型，引入爆胎轮胎力衰减机制对爆胎后的车辆进行模拟和控制。 以横摆角速度偏差作为控制量构造滑模面，基于指数趋近律设计控制器，通过差动制动产生 附加横摆力矩使车辆逐步保持稳定。基于 CarSim 与 Simulink 联合仿真平台，在左前轮爆胎 （65 km/h）、右后轮爆胎（65 km/h）和左前轮爆胎（100 km/h）三种对开路面工况下进行验 证，当驾驶员不干预时，可有效降低横摆角速度，并将横向位移限制在 0.8 m 内。该方法为 对开路面爆胎工况下的车辆行驶安全控制提供了有效的工程方案，工程上实施该控制策略亦 较为简单。

关键词: 爆胎；对开路面；滑模控制；差动制动；车辆稳定性