The invention discloses a vehicle emergency collision avoidance coordination control method comprehensively considering safety and stability, which comprises an LQR controller module and a coordination decision module, the coordination decision module judges that the current working condition belongs to an emergency working condition, a stable yawing moment is output through a self-adaptive MPC controller module, and the stability of a vehicle body is kept while emergency collision avoidance is implemented. The method has the advantages that when an obstacle appears in front of the vehicle, emergency collision avoidance is automatically implemented according to the planned path, and meanwhile the stability of the vehicle body in the process is kept.
本发明公开一种综合考虑安全性与稳定性的车辆紧急避撞协调控制方法,包括LQR控制器模块和协调决策模块,协调决策模块判断当前工况属于紧急工况,通过自适应MPC控制器模块输出稳定的横摆力矩,实施紧急避撞的同时,保持车身的稳定性。本发明的优点是当车辆前方出现障碍物时,根据规划的路径自动实施紧急避撞,同时保持这一过程中的车身稳定性。
Vehicle emergency collision avoidance coordination control method comprehensively considering safety and stability
一种综合考虑安全性与稳定性的车辆紧急避撞协调控制方法
2023-11-24
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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