The invention discloses a drifting-assisted electric vehicle chassis collaborative obstacle avoidance method, and relates to the technical field of automobile safety, and the drifting-assisted electric vehicle chassis collaborative obstacle avoidance method comprises the steps: obtaining related vehicle parameters, and obtaining the current state quantity of a vehicle during real-time driving; acquiring obstacle information, and calculating collision time; judging whether drift-assisted obstacle avoidance is needed in the current working condition according to the collision time; drifting obstacle avoidance trajectory planning is carried out on the current scene, and a reference obstacle avoidance path and a corresponding vehicle reference state quantity are obtained; performing drifting motion control by adopting an inner and outer ring control algorithm based on the vehicle reference state quantity, and outputting transverse and longitudinal tire forces as virtual control quantities; and transverse and longitudinal tire forces are distributed, and the virtual control quantity is converted into the real input quantity of an actuator. According to the method, the drifting-assisted emergency obstacle avoidance strategy is introduced under the limiting condition, the problem that a traditional braking and steering obstacle avoidance method cannot deal with the special working condition is solved, and the safety and maneuverability of the vehicle under the limiting condition are remarkably improved.
本发明公开了一种漂移辅助的电动车辆底盘协同避障方法,涉及汽车安全技术领域,包括:获取相关车辆参数,获取车辆在实时行驶中的车辆当前状态量;获取障碍物信息,计算碰撞时间;根据碰撞时间判断当前工况是否需要进行漂移辅助避障;对当前场景进行漂移避障轨迹规划,获取参考避障路径以及对应的车辆参考状态量;基于车辆参考状态量,采用内外环控制算法进行漂移运动控制,输出横纵向轮胎力作为虚拟控制量;对横纵向轮胎力进行分配,将虚拟控制量转换为执行器的真实输入量。本发明通过在极限工况下引入漂移辅助的紧急避障策略,解决了传统制动和转向避障方法无法应对的特殊工况问题,显著提升了车辆在极限条件下的安全性和机动性。
Drift-assisted electric vehicle chassis collaborative obstacle avoidance method
一种漂移辅助的电动车辆底盘协同避障方法
2025-05-06
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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