中文摘要：

为提高客车在行驶过程中的防侧翻控制能力,提出了一种基于动态LTR的客车防侧翻控制策略。首先,为提高车辆模型的精度,在建立三自由度参考模型的基础上,利用TruckSim软件辨识不同载荷、不同车速和不同转向盘转角下模型的侧倾角刚度,为开发有效的防侧翻控制策略奠定基础。其次,考虑客车在实际行驶过程中横向载荷转移的时变性和传统固定LTR的局限性,借助TruckSim软件,计算不同载荷、不同车速和不同转向盘转角下的动态LTR来实现车辆动态特性的精确预测;为保证客车防侧翻控制策略运行的实时性,运用PID控制算法决策最优补偿横摆力矩,采用差动制动方法对客车进行防侧翻控制。最后,为验证防侧翻控制算法的有效性和准确性,搭建基于商用车电子制动系统的硬件在环试验台,通过选取典型测试工况对提出的客车防侧翻控制策略进行硬件在环验证。结果表明：在相同工况下,满载客车比空载客车更易发生侧翻;提出的客车防侧翻控制策略可以准确识别车辆的侧翻状态,弥补了采用传统固定LTR识别侧翻状态的不足;制动系统能迅速对客车进行防侧翻控制,在客车未发生侧翻的情况下,LTR值最大能减少32.5%,有效提高了客车的侧翻稳定性。

英文摘要：

In order to improve the performance of bus rollover prevention in real driving condition,an anti-rollover control strategy based on dynamic LTR was proposed.Firstly,to enhance the accuracy of vehicle model,on the basis of 3degree-of-freedom（DOF）reference model,rolling angle stiffness under various loads,speeds and steering wheel angles was identified using TruckSim software,which aims to lay the foundation for developing effective anti-rollover control strategy.Then,considering time-varying property of lateral load transfer and limitation of traditional LTR,dynamic LTRs under various loads,speeds and steering wheel angles were calculated with the help of TruckSim software to predict rollover threat precisely.To ensure realtime operation of the control strategy,PID algorithm was served to determine optimal compensating yaw moment,and differential braking method was employed to control bus rollover.Finally,to verify effectiveness and accuracy of the control algorithm,the hardware-inloop test bench based on electronic braking system of commercial vehicle was built,and thehardware-in-loop experiment was conducted after having selected specified test maneuvers to verify the performance of control strategy proposed.The results show that the bus with full load is more prone to rollover than the bus without load under the same working condition.The proposed control strategy is capable of identifying vehicle rollover state accurately,compensating the shortage of traditional LTR in this aspect.Brake system can take steps to control vehicle rollover fast,and LTR value can be reduced by 32.5%at most under the condition of no rollover,enhancing bus stability effectively.