The invention discloses a man-machine co-driving automobile emergency collision avoidance control method and system based on additional yawing moment, and belongs to the technical field of man-machine co-driving driving safety. According to the man-machine co-driving automobile emergency collision avoidance control method and system based on the additional yawing moment, the obstacle distance, the road adhesion coefficient, the self-automobile speed, the steering wheel stress angle and the linear steering cognition of a driver are fully considered; an arc lane changing path is adopted, and smoothing processing is carried out at the curvature sudden change position; according to the change of the state quantity in the vehicle emergency working condition stress steering process and a constraint design model prediction control algorithm, calculating additional yawing moment for ensuring the vehicle tracking precision and safety, and reasonably distributing the additional yawing moment according to the load proportion of each wheel; by controlling the braking force of each wheel to effectively compensate unreasonable input when a driver takes over the vehicle forcibly, the problem that the nervous psychology of the driver is aggravated in an existing collision avoidance control method is solved, and safe and reliable collision avoidance is achieved when the driver is assisted to take over the vehicle forcibly under the emergency working condition and performs stress over-steering.
本发明公开了一种基于附加横摆力矩的人机共驾汽车紧急避撞控制方法及系统,属于人机共驾行驶安全技术领域,本发明充分考虑了与障碍物距离、路面附着系数、自车速度、方向盘应激转角和驾驶员线性转向认知,采用圆弧换道路径并在曲率突变处进行平滑处理;根据车辆紧急工况应激转向过程中状态量的变化及约束设计模型预测控制算法,计算出保证车辆跟踪精度和安全性的附加横摆力矩并按各轮载荷比例合理分配;通过控制各轮制动力来对驾驶人强制接管时的不合理输入进行有效补偿,解决了现有避撞控制方法存在的加剧驾驶人紧张心理的问题,实现了辅助驾驶人在紧急工况下强制接管控制并应激性过度转向时进行安全可靠的避撞。
Man-machine co-driving automobile emergency collision avoidance control method and system based on additional yawing moment
一种基于附加横摆力矩的人机共驾汽车紧急避撞控制方法及系统
2022-12-30
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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