The invention discloses a control method for unstable motion of an unmanned vehicle after collision. The method is applied to an unmanned vehicle with a distributed independent drive braking executionfunction. The instability motion control of the pilotless automobile under different collision conditions can be realized; tire force potential is fully utilized, reverse generalized tire lateral force is provided through active front wheel steering, reverse yawing moment is provided through coordination of four-wheel motor driving/braking control, and motion control over the unmanned vehicle after collision under the high-speed working condition is achieved. Through simulation verification, the control strategy provided by the invention can effectively reduce the motion deviation of the vehicle in the collision process so as to reduce the occurrence probability of subsequent collision, and has important engineering practical application significance of quick response, strong real-time performance and the like.
本发明公布了一种用于无人驾驶车辆碰撞后失稳运动的控制方法,应用于具有分布式独立驱动制动执行功能的无人驾驶车辆,可实现无人驾驶汽车在不同碰撞情况下的失稳运动控制,本发明充分利用轮胎力潜能,通过主动前轮转向提供反向广义轮胎侧向力和协调四轮电机驱动/制动控制提供反向横摆力矩,实现高速工况下发生碰撞后无人驾驶车辆的运动控制。通过仿真验证,本发明提出的控制策略能够有效地减小车辆在碰撞过程中的运动偏移,进而减小后继碰撞的发生概率,具有快速响应、实时性强等重要的工程实际应用意义。
Control method for unstable motion of unmanned vehicle after collision
一种用于无人驾驶车辆碰撞后失稳运动的控制方法
2020-06-05
Patent
Electronic Resource
Chinese
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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