The invention discloses an autonomous decision control system and method for avoiding secondary collision of a vehicle, and the method comprises the steps: obtaining a first control command before the collision occurs and when a preset triggering condition is met; after collision occurs, establishing a post-collision control strategy based on rule switching according to the current vehicle motion state and the optimization control target, and optimizing network parameters to obtain an optimal control strategy so as to generate a second control command; and executing the first control command and the second control command to optimize the control parameters after the vehicle collision. According to the method, pre-collision control and post-collision control are combined, so that the control difficulty after the vehicle collision is reduced while the collision loss of the first rear-end collision is reduced; drifting operation and vehicle body stability control are combined, so that the maneuvering characteristics of the vehicle are fully utilized, the stability of the vehicle is rapidly recovered after collision, system integration and modeling are carried out on all optimization indexes after rear-end collision in a reward function mode, and the problem of complex multi-target optimization control after vehicle collision is solved.
本发明公开了一种避免车辆二次碰撞的自主决策控制系统与方法,该方法包括:在碰撞发生前并满足预设的触发条件时,得到第一控制命令;在发生碰撞后,根据当前车辆运动状态及优化控制目标建立基于规则切换的碰后控制策略,并对网络参数进行优化得到最优控制策略以产生第二控制命令;执行第一控制命令和第二控制命令,以优化车辆碰撞后控制参数。本发明结合碰前控制和碰后控制,在减轻初次追尾碰撞损失的同时降低车辆碰撞后的控制难度;结合漂移操作与车身稳定性控制,从而充分利用车辆的机动性能,在碰撞后迅速恢复车辆稳定性,以奖励函数的形式对追尾碰撞后的各优化指标进行系统整合及建模,解决了车辆发生碰撞后的复杂多目标优化控制问题。
Autonomous decision control system and method for avoiding secondary collision of vehicle
一种避免车辆二次碰撞的自主决策控制系统与方法
2023-06-30
Patent
Elektronische Ressource
Chinesisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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