The invention provides a vehicle collision working condition stability control method and system based on game control and a vehicle. According to the scheme, the method comprises the steps that the state of the vehicle is detected in real time; when it is detected that the vehicle collides, based on a preset state equation of an automatic driving steering and braking interaction control model and a target function of steering and differential braking, an optimal front wheel steering angle and an optimal direct yawing moment are calculated by adopting a game control theory; and based on the collision position, a braking force distribution strategy is determined according to the obtained optimal front wheel steering angle and the obtained optimal direct yawing moment, braking force is distributed to the wheels on the corresponding sides according to the braking force distribution strategy, and the vehicle can recover to be stable after being unstable.
本公开提供了一种基于博弈控制的车辆碰撞工况稳定控制方法、系统及车辆,所述方案包括:对车辆状态进行实时检测;当检测到车辆发生碰撞时,基于预设的自动驾驶转向与制动交互控制模型的状态方程以及转向与差动制动的目标函数,采用博弈控制理论计算最优的前轮转角和直接横摆力矩;基于碰撞位置,根据获得的最优的前轮转角和直接横摆力矩确定制动力分配策略,根据制动力分配策略分配制动力至对应侧车轮,使得车辆在失稳后得以恢复稳定。
Game control-based vehicle collision working condition stability control method and system and vehicle
基于博弈控制的车辆碰撞工况稳定控制方法、系统及车辆
2023-12-01
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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