基于最优方法的碰后辅助驾驶控制策略

doi:10.19562/j.chinasae.qcgc.2023.04.004

Abstract

Abstract:

In a collision accident， violent yaw and lateral motion often occur at the same time after the side impact of a vehicle. It is difficult for ordinary drivers to correctly deal with such emergency situation， obviously the vehicle may lose stability， or even cause more serious accidents. In order to reduce the secondary collision caused by vehicle instability and the misoperation of the driver， this paper proposes a two-stage auxiliary driving control strategy that takes over the vehicle driving authority after the collision. In the first stage， the cost function is designed by integrating the two indicators of vehicle stability and lateral displacement. Through hierarchical control， the vehicle can quickly return to stability after collision and reduce the lateral displacement to reduce the risk of secondary collision. After that， according to the stability region divided by the phase plane method， a switching criterion for the control system is formulated. After judging that the vehicle state is stable， the control system switches to the path tracking control in the second stage. The model predictive path tracking controller will drive the vehicle back to the original lane to reduce the impact on the adjacent lane. Finally， the effectiveness of the control strategy proposed in this paper is verified through simulation experiments in different strength side impact.

Key words: assisted driving for post-impact, lateral impact, model predictive control, optimal method, phase plane stability region

Bing Zhou,Jiabao Wei,Tian Chai,Xiaojian Wu,He Wang. Control Strategy of Assistant Driving for Post-impact Based on Optimal Method[J].Automotive Engineering, 2023, 45(4): 561-571.

Figures/Tables 12

碰撞位置	$Ψ ˙ / ((°) · s - 1)$	$α f / (°)$	$α r / (°)$	$β / (°)$
质心前方	143	22	-1	15
质心后方	-143	5	28	15
质心稍前方	57	17	8	15
质心	0	15	15	15

符号	含义	参数值
$m$	汽车质量/ $k g$	1 230
$I z$	整车横摆转动惯量 $/ (k g ? m 2)$	1 488.3
$t w$	轮距 $/ m$	1.48
$a$	质心到前轴的距离 $/ m$	1.04
$b$	质心到后轴的距离 $/ m$	1.56
$L$	轴距 $/ m$	2.6
$R$	车轮半径 $/ m$	0.31
$I w$	车轮转动惯量/ $? (k g ? m 2)$	0.6

参数	含义	第1阶段参数值	第2阶段参数值
$t s / s$	离散步长	0.02	0.02
$N p$	预测时域	20	20
$N c$	控制时域	18	2
$Q η$	输出量权重	$d i a g (5 ? 000,100,800)$	$d i a g (1 ? 000,800)$
$Q U$	控制量权重	$d i a g (100,1 e 6)$	-
$R$	控制增量权重	$d i a g (5 ? 000,5 ? 000)$	$d i a g (5 e 5,5 e 5)$

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Control Strategy of Assistant Driving for Post-impact Based on Optimal Method

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