The invention discloses a method for passing through a dangerous curve by utilizing vehicle drifting. The method comprises the following steps: predicting a future fixed time domain driving state and making an action decision; planning a vehicle drifting local driving track in a future fixed time domain; vehicle motion control that tracks a local reference trajectory with a desired action. The designed system comprises a vehicle driving state prediction and stability judgment module, a drifting and turning local driving trajectory planning module and a drifting and turning trajectory tracking control module. The stability judgment module judges whether the vehicle can pass through the emergency curve in the state constraint range or not, and if the judgment result is positive, the vehicle steers normally; and if the result is negative, the decision module issues a drift turning instruction, the system plans a local drift trajectory, and the control module completes drift tracking and returns to a normal driving state after passing through a curve. According to the invention, the driving safety and stability of the vehicle can be ensured under the emergency steering condition.
本发明公开了一种利用车辆漂移通过危险弯道的方法,包括:未来固定时域行驶状态预测及动作决策;规划未来固定时域内车辆漂移局部行驶轨迹;以期望的动作跟踪局部参考轨迹的车辆运动控制。所设计的系统包含车辆行驶状态预测及稳定性判断、漂移过弯局部行驶轨迹规划和漂移过弯轨迹跟踪控制三个模块。稳定性判断模块将对车辆是否能在状态约束范围内通过紧急弯道进行判断,若所述判断结果是肯定的,车辆进行正常转向行驶;若所述结果是否定的,决策模块下发漂移过弯指令,系统规划局部漂移轨迹,控制模块完成漂移循迹,待通过弯道后回到正常行驶状态。本发明能够在紧急转向情况下确保车辆的行驶安全性与稳定性。
Method for passing through dangerous curve by utilizing vehicle drifting
一种利用车辆漂移通过危险弯道的方法
2023-06-02
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 |
Apparatus and method for warning of dangerous passing of vehicle
European Patent Office | 2016
|Method for collecting and extracting behavior of vehicle passing through curve
European Patent Office | 2022
|Inter-vehicle hinging device capable of passing through small curve
European Patent Office | 2020
|European Patent Office | 2021
|