基于改进分层可拓理论的智能汽车AFS/DYC协调控制

doi:10.19562/j.chinasae.qcgc.2023.01.003

Abstract

Abstract:

For the problem of emergency obstacle avoidance and stable control of large curvature conditions， the AFS and DYC coordinated control system based on improved hierarchical extensibility theory is proposed， and the whale algorithm is introduced to solve the adaptive division problem of the extendable boundary， which not only simplifies the boundary determination process of the hierarchical extensibility theory， but also curbs some of the strong output oscillations of the controller， which significantly improves the stability and safety of the vehicle control. The proposed AFS/DYC coordination control system is divided into two layers. The upper layer is an improved hierarchical extendable coordination module and the lower layer is an AFS/DYC controller module. The upper extendable coordination module mainly determines the weight coefficients of AFS and DYC through the yaw rate， longitudinal vehicle speed and planned path curvature， and the lower controller module mainly distributes the output of AFS and DYC through the weight coefficient determined by the upper coordination module， and finally realizes the stability control of intelligent vehicles. The joint simulation results of Carsim and Simulink show that the control effect of the proposed coordinated control system on the yaw rate and longitudinal vehicle speed is largely improved compared with the hierarchical extendable control and ordinary extendable control under the working conditions of large curvature and curvature mutation such as emergency obstacle avoidance and double shift line.

Key words: autonomous driving, stability control, extensibility theory, whale algorithm, coordinated control

Pulei Xu,Yingfeng Cai,Yubo Lian,Xiaoqiang Sun,Hai Wang,Long Chen,Yilin Zhong. AFS/DYC Coordinated Control of Intelligent Vehicles Based on Improved Hierarchical Extensibility Theory[J].Automotive Engineering, 2023, 45(1): 20-31.

Figures/Tables 29

参数	数值（单位）	参数	数值（单位）
$M$	$1 ? 270 ? k g$	$t f$	$1.64 ? m$
$I z$	$1 ? 343.1 ? k g ? m 2$	$t r$	$1.54 ? m$
$a$	$1.22 ? m$	$R e f f$	$0.325 ? m$
$b$	$1.36 ? m$

方法

纵向车速

全时段误差

方法

横摆角速度

全时段误差

改进分层可拓

11.66 ? m / s

改进分层可拓

16.67 ? r a d / s

分层可拓

11.79 ? m / s

分层可拓

22.13 ? r a d / s

普通可拓

12 ? m / s

普通可拓

21.67 ? r a d / s

方法

纵向车速

全时段误差

方法

横摆角速度

全时段误差

改进分层可拓

13.48 ? m / s

改进分层可拓

13.65 ? r a d / s

分层可拓

13.63 ? m / s

分层可拓

16.48 ? r a d / s

普通可拓

13.69 ? m / s

普通可拓

18.5 ? r a d / s

References 23

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AFS/DYC Coordinated Control of Intelligent Vehicles Based on Improved Hierarchical Extensibility Theory

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References 23

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