The invention discloses a vehicle post-collision MPC controller design method integrating stability control and trajectory control, which comprises the following steps: firstly, establishing a collision force calculation model based on momentum conservation, calculating the collision force in the collision process according to the vehicle state, then establishing a vehicle collision model considering lateral movement and yaw movement, and calculating the collision force in the collision process according to the vehicle state. The method is used for reflecting the influence of collision force on the vehicle state, a multi-target integrated MPC controller is established on the basis, a target function is solved to obtain the expected control quantity including the expected additional yaw moment and the expected front wheel steering angle, and then the expected control quantity is converted to obtain the expected additional yaw moment and the expected front wheel steering angle. The expected control quantity which comprises the expected wheel cylinder pressure and the expected front wheel turning angle and can be directly controlled is obtained, and finally the expected control quantity which can be directly controlled acts on the vehicle; according to the vehicle using the controller designed by the method, the lateral displacement of the vehicle after collision can be obviously reduced, so that the vehicle quickly restores and stably returns to the original track, the probability of secondary collision is effectively reduced, and the safety of the vehicle after collision is improved.

    本发明公开了一种集成稳定性控制和轨迹控制的车辆碰后MPC控制器设计方法,首先建立基于动量守恒的碰撞力计算模型,可由车辆状态计算碰撞过程中的碰撞力,然后建立考虑侧向运动和横摆运动的车辆碰撞模型,用于反应碰撞力给车辆状态带来的影响,在此基础上建立多目标集成MPC控制器,求解目标函数得到包括期望附加横摆力矩和期望前轮转角的期望控制量,再将期望控制量进行转换,得到包括期望轮缸压力和期望前轮转角的可以直接控制的期望控制量,最后将可以直接控制的期望控制量作用于车辆;使用本方法设计的控制器的车辆能显著降低碰后车辆的侧向位移,使车辆快速恢复稳定回到原始轨迹,有效降低二次碰撞的概率,提高碰后车辆的安全性。


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    Title :

    Vehicle after-collision controller design method


    Additional title:

    一种车辆碰后控制器设计方法


    Contributors:
    WANG FEI (author) / LU HENGHUI (author) / YANG SHEN (author) / ZHANG SHILONG (author) / WANG PING (author) / GUO HONGYAN (author) / LIU JUN (author) / CHEN HONG (author)

    Publication date :

    2023-05-30


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung / 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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