考虑稳定性约束的智能车辆切换控制方法

doi:10.19562/j.chinasae.qcgc.2023.05.001

Abstract

Abstract:

Strengthening active collision avoidance capability is the key to improving driving safety for intelligent vehicles. In particular， efficient and stable implementation of the active collision avoidance function in emergency is the basis for ensuring accurate multi-objective switching of intelligent vehicles. However， current active collision avoidance methods need to be further improved in terms of the collision avoidance ability when facing vehicles cutting in from different directions. To address the above-mentioned problems， a switching control method for the intelligent vehicle is proposed， which quantifies the collision risk， constructs target switching logic and designs a hierarchical system control structure. The proposed method strengthens the active collision-avoidance ability for cut-in vehicles from different directions to realize stable switching among different driving objectives under vehicle stability constraints. Finally， the multi-vehicle experimental platform verifies the effectiveness and correctness of the proposed method.

Key words: switching control, active collision avoidance, hierarchical control structure, stability constraints, real vehicle test

Yu Zhang,Mingfan Xu,Guangyu Bai,Mingming Dong,Li Gao,Yechen Qin. Intelligent Vehicle Switching Control Considering Dynamic Stability Constraints[J].Automotive Engineering, 2023, 45(5): 709-718.

Figures/Tables 12

横向距离	航向	触发结果 $η$
远（ $≥ Y L a t$ ）	平行（ $∈ ψ H e T$ ）	不触发（0）
远（ $≥ Y L a t$ ）	不平行（ $? ψ H e T$ ）	触发（1）
近（< $Y L a t$ ）	平行（ $∈ ψ H e T$ ）	触发（1）
近（< $Y L a t$ ）	不平行（ $? ψ H e T$ ）	触发（1）

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参数	数值
m/kg	75
I_z， I_w /（kg·m²）	700， 0.14
W/m	0.7
l_f， l_r/m	0.27，0.28
R_e/m	0.125
Thres_{1_1}/s	3.0
Thres_{1_2}， Thres₂/s	2.0，2.0
N_p， N_c	10，3

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Intelligent Vehicle Switching Control Considering Dynamic Stability Constraints

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