The invention discloses a vehicle lane changing and obstacle avoiding method, system and device and a storage medium, which are applied to the technical field of vehicle control and can realize automatic control of vehicle lane changing and obstacle avoiding, improve the stability and reliability of lane changing and obstacle avoiding and reduce the occurrence probability of vehicle collision accidents. The method comprises the following steps: constructing a hub motor vehicle dynamics model; constructing a safe distance model according to the motion relation between the vehicle and the front vehicle so as to construct a lane changing risk prediction model; when lane change obstacle avoidance intervention is determined, fitting a lane change path through a preset polynomial to obtain an optimal obstacle avoidance track; constructing a transverse displacement tracking controller to predict preset motion data of the vehicle; constructing an optimized integral sliding mode controller to calculate an expected additional yawing moment; constructing a longitudinal vehicle speed self-adaptive fuzzy controller to calculate an expected longitudinal acceleration; and the torque of the hub motor is adjusted according to the optimal obstacle avoidance track, the expected additional yawing torque and the expected longitudinal acceleration in combination with preset motion data.

    本发明公开一种车辆换道避障方法、系统、装置及存储介质,应用于车辆控制技术领域,能够实现车辆换道避障自动控制,提高换道避障稳定性和可靠性,减少车辆碰撞事故发生概率。该方法包括:构建轮毂电机车辆动力学模型;根据本车与前车的运动关系构建安全距离模型,以构建换道风险预测模型;当确定换道避障介入,通过预设多项式拟合换道路径得到最优避障轨迹;构建横向位移跟踪控制器,以预测本车的预设运动数据;构建优化积分滑膜控制器,以计算期望附加横摆力矩;构建纵向车速自适应模糊控制器,以计算得到期望纵向加速度;根据最优避障轨迹、期望附加横摆力矩以及期望纵向加速度结合预设运动数据对轮毂电机力矩进行调节。


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    Title :

    Vehicle lane change obstacle avoidance method, system and device and storage medium


    Additional title:

    一种车辆换道避障方法、系统、装置及存储介质


    Contributors:
    FU XIANG (author) / WANG WENJU (author) / WANG JIA (author) / PEI CHAO (author) / WANG JIJIE (author)

    Publication date :

    2023-09-08


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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