The invention relates to an extended-range distributed drive electric vehicle collision avoidance optimization control system and method. The control system comprises an environment sensing module, anobstacle avoidance path planning module, a multi-target collision avoidance path tracking optimization control module and an extended-range distributed drive electric vehicle. The main functions of all modules are as follows: the environment sensing module detects to obtain obstacle information and the state of a vehicle; the obstacle avoidance path planning module plans a dynamic safe collisionavoidance path; and the multi-target collision avoidance path tracking optimization control module adopts a model prediction control method combining a radial basis neural network to decide a steeringwheel rotating angle and a driving/braking torque to complete path tracking to realize collision avoidance control over the vehicle according to path tracking precision and longitudinal impact degreerequirements. Compared with the prior art, the extended-range distributed drive electric vehicle collision avoidance optimization control system has the advantages that the safety of the collision avoidance vehicle and the comfort level of a driver can be improved while the path tracking precision and the vehicle stability are guaranteed.
本发明涉及一种增程式分布驱动电动车辆避撞优化控制系统及控制方法,该控制系统包括环境感知模块、避障路径规划模块、多目标避撞路径跟踪优化控制模块及增程式分布驱动电动车辆。各模块的主要功能包括:环境感知模块探测得到障碍物信息以及车辆自身状态,避障路径规划模块规划出动态安全避撞路径,多目标避撞路径跟踪优化控制模块根据路径跟踪精度及纵向冲击度要求,采用结合径向基神经网络的模型预测控制方法决策转向盘转角与驱/制动力矩以完成路径跟踪,实现对车辆的避撞控制。与现有技术相比,本发明具有能够在保障路径跟踪精度与车辆稳定性的同时提高避撞车辆安全性与驾驶员舒适度等优点。
Extended-range distributed drive electric vehicle collision avoidance optimization control system and method
增程式分布驱动电动车辆避撞优化控制系统及控制方法
2020-12-22
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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