Control method for unstable motion of unmanned vehicle after collision

Abstract

The invention discloses a control method for unstable motion of an unmanned vehicle after collision. The method is applied to an unmanned vehicle with a distributed independent drive braking executionfunction. The instability motion control of the pilotless automobile under different collision conditions can be realized; tire force potential is fully utilized, reverse generalized tire lateral force is provided through active front wheel steering, reverse yawing moment is provided through coordination of four-wheel motor driving / braking control, and motion control over the unmanned vehicle after collision under the high-speed working condition is achieved. Through simulation verification, the control strategy provided by the invention can effectively reduce the motion deviation of the vehicle in the collision process so as to reduce the occurrence probability of subsequent collision, and has important engineering practical application significance of quick response, strong real-time performance and the like.

Description

technical field [0001] The invention relates to the technical field of automobile control, in particular to a control method for unsteady movement of an unmanned vehicle after collision. Background technique [0002] Accident data show that secondary crashes often result in higher injury and death rates than primary crashes. When a traditional car collides for the first time, the vehicle is impacted vertically and horizontally and rotates at a high speed, which makes it easy for the driver to make unreasonable driving operations and further deteriorates the vehicle's motion state. The current distributed driving / braking method will become one of the technologies for autonomous vehicles, and the overdrive characteristics can effectively realize vehicle lateral motion control and improve vehicle driving safety. At the same time, it expands the feasible area of ​​traditional vehicles on motion control actuators, which is more conducive to ensuring vehicle stability in emergenc...

AI Technical Summary

Problems solved by technology

[0006] The technical problem to be solved by the present invention is: the above-mentioned traditional vehicle stability motion control method cannot meet the requirements of timely and effectively eliminating the impact of collision on the lateral and yaw motion of the vehicle and the feasibility of the vehicle constraint problem in feedback control. Provides a control method for unmanned vehicle post-collision destabilization motion, which is realized by combining the feed-forward control based on the steepest descent of collision energy and the feedback control based on model prediction

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