The invention discloses an intelligent automobile emergency obstacle avoidance control method based on acceleration vector control, and relates to the technical field of automobile motion control. Establishing a ground coordinate system, an automobile coordinate system and an automobile kinematic model, and modeling an obstacle avoidance problem; establishing a tire coordinate system on the tire, and establishing an automobile dynamics model; friction circle constraint is adopted for description of tire force, when tracking control is conducted on automobile acceleration, a magic formula is adopted for describing the tire force of a tire, and a tire force model is established; basic parameters of the automobile and the environment are obtained; describing an optimal obstacle avoidance problem as an optimal control problem; solving an optimal control problem; and designing an obstacle avoidance controller according to the solution of the optimal control problem. An optimal obstacle avoidance problem is described as an optimal control problem, an acceleration vector trajectory which enables the distance from an obstacle avoidance trajectory to an obstacle to be maximum is given, and when the obstacle is encountered, an automobile is controlled to track the trajectory, so that excellent obstacle avoidance performance can be achieved.
一种基于加速度矢量控制的智能汽车紧急避障控制方法,涉及汽车运动控制技术领域。建立地面坐标系和汽车坐标系以及汽车运动学模型,对避障问题建模;在轮胎上建立轮胎坐标系,建立汽车动力学模型;对轮胎力的描述采用摩擦圆约束,对汽车加速度进行跟踪控制时,采用魔术公式描述轮胎的轮胎力,建立轮胎力模型;获取汽车与环境的基本参数;将最优避障问题描述为最优控制问题;求解最优控制问题;根据最优控制问题的解设计避障控制器。将最优避障问题描述为最优控制问题,给出使得避障轨迹到障碍物距离最大的加速度矢量轨线,在遭遇障碍物时控制汽车跟踪该轨线能够实现优异的避障性能。
Intelligent automobile emergency obstacle avoidance control method based on acceleration vector control
一种基于加速度矢量控制的智能汽车紧急避障控制方法
2024-10-15
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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