主動式灰色卡爾曼車輛側傾補償器之設計

Design of Active Grey-Kalman System for Vehicles in Roll Steering Control

由於大多數之車輛穩定控制系統，如:電子穩定程式、電子控制煞車輔助與車輛動態控制系統，多是侷限在於橫擺(yaw)、側滑(sideslip)、煞車(braking)、循跡控制之被動式車輛安全控制機制，而且當上述之被動式安全控制器被觸發時，亦可能伴隨著一些潛在的危險。因此、本研究的目的為在上述安全機制被觸發之前先行執行本文所提出之控制器，以降低被動式安全可能產生的潛在危機。控制器以駕駛者需求為中心，類似架構於中控台之車輛動態連續底盤控制系統(Four-C)之轉向灰色卡爾曼側傾控制器。而研究方法則是利用灰色理論(grey theory)透過車輛動態方程進行灰建模、灰預測，估測出車輛在過彎行進間之下一步側傾角(roll angle)，並結合卡爾曼濾波器(Kalman filter)與SRL控制法則，藉由輪胎速度與方向盤轉向角，設計出一灰色卡爾曼控制器，使駕駛者能以動態方式配合自身駕駛習慣經由控制器控制轉向側傾角，並同時達成提升車輛駕駛性能與安全性之目的。

For the flourishing development of the motor industrial technology in recent years, the improvements between driving performance and security are promoted enormously. However, most of the stability control systems for vehicles such as ESP, EBA and VDC, are always limited in those studies such as yaw, side-slip, brake system or traction controls. In this dissertation, the purpose of this study is concentrated on the users' desires todesign a roll steering controller which is based on Grey theory and Kalman filter, and similar to a continuously controlled chassis concept(Four-C, Volvo) framed in the central console. The studying approaches are first, by using the grey theory and the vehicular dynamic equations to estimate the next roll angle of the vehicle during passing one curve. Next, through combining the Kalman filter and SRL control rule, tire speed and steering wheel angle to design a fuzzy grey controller. Consequently, the controller can facilitate the driver to control the steering roll angle in dynamic way matching up with individual driving habit, and improve the driving performance and security at the same time.