The invention discloses an automatic driving vehicle emergency collision avoidance stability control method and system, and the method comprises the steps: determining the maximum stable vehicle speed of a vehicle in an emergency collision avoidance process based on a two-degree-of-freedom vehicle dynamics model; whether the actual vehicle speed exceeds the maximum stable vehicle speed or not is judged, and if yes, the vehicle is actively braked; and if not, the vehicle travels through a 2WS or 4WS tracking predetermined track. According to the invention, the path tracking performance and the driving stability of the autonomous vehicle in the emergency collision avoidance process can be effectively improved, and the control precision is high.
本发明公开了一种自动驾驶车辆紧急避撞稳定性控制方法及系统,包括:基于二自由度车辆动力学模型,确定车辆在紧急避撞过程中的最大稳定车速;判断实际车速是否超过最大稳定车速,若是,则对车辆进行主动刹车;若否,则车辆通过2WS或4WS跟踪预定的轨迹行驶。本发明能够有效提高自动驾驶车辆在紧急避撞过程中的路径跟踪性能和行驶稳定性,控制精度高。
Emergency collision avoidance stability control method and system for autonomous vehicle
自动驾驶车辆紧急避撞稳定性控制方法及系统
2024-04-26
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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