The invention discloses a collision avoidance control method based on a vehicle lateral stability domain, and relates to the field of vehicle dynamics control and intelligent driving. The method comprises the following steps: firstly, establishing a vehicle three-degree-of-freedom model and a cubic term tire model, constructing a Lyapunov energy function based on the established vehicle model to obtain a lateral stability domain and a critical unstable front wheel steering angle of the vehicle at different vehicle speeds, and then constructing an overall coordination control framework comprising steering collision avoidance control and stability control, the stability domain is used as an elastic control target, yaw moment control is adopted to enable the state of the vehicle to be always in the stability domain, the safety is guaranteed, meanwhile, the stability performance of the vehicle is utilized to the maximum extent, the vehicle has a better collision avoidance effect under the limit condition, and multi-target coordination control over collision avoidance under the extreme working condition and stability control over the vehicle is achieved.
本发明公开了一种基于车辆侧向稳定域的避撞控制方法,涉及车辆动力学控制及智能驾驶领域。首先建立车辆三自由度模型及三次项轮胎模型,基于所建立的车辆模型构造李雅普诺夫能量函数,得到车辆在不同车速下的侧向稳定域及临界失稳的前轮转角,再构造包括转向避撞控制与稳定性控制的总体协调控制框架,以所求稳定域作为弹性控制目标,采用横摆力矩控制使车辆状态始终处于稳定域内,在保证安全的同时,最大程度利用车辆的稳定性能,使自车在极限情况下有更好的避撞效果,实现了极端工况的避撞与自车稳定控制的多目标协调控制。
Collision avoidance control method based on vehicle lateral stability domain
一种基于车辆侧向稳定域的避撞控制方法
2022-07-29
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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