Nash game control method for automatic driving, steering and braking under emergency avoidance conditions

An emergency avoidance and automatic driving technology, which is applied in the field of automobile intelligent interaction, can solve problems such as the inability to guarantee safe driving, and does not consider the conflict between the braking and steering systems, so as to achieve improved safety and stability, strong practicability, and reasonable distribution. Effect

Active Publication Date: 2022-01-28
LIAOCHENG UNIV
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Problems solved by technology

However, it does not consider the conflict between the braking and steering systems. After ensuring the stability of the vehicle, it cannot guarantee that the vehicle will still drive safely after it deviates from the planned route.

Method used

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  • Nash game control method for automatic driving, steering and braking under emergency avoidance conditions
  • Nash game control method for automatic driving, steering and braking under emergency avoidance conditions
  • Nash game control method for automatic driving, steering and braking under emergency avoidance conditions

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Embodiment Construction

[0133] The specific implementation manner of the present invention will be described below in conjunction with the accompanying drawings by taking the tracking path as an example with double shifting lines, so that those skilled in the art can better understand the present invention.

[0134] The Nash game control method for automatic driving, steering and braking under emergency avoidance conditions is shown in Figure 1, and includes the following steps:

[0135] Step 1) Construct a two-degree-of-freedom vehicle model according to the parameters of the experimental car, and discretize it;

[0136] see figure 2 It can be seen that, in order to simplify the problem, the motion of the vehicle is represented by the lateral displacement and velocity of the vehicle's center of mass, as well as the yaw angle and yaw rate of the vehicle. The overall lateral displacement of the vehicle is obtained by integrating Equation (35):

[0137]

[0138] The yaw angle ψ of the vehicle at h...

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Abstract

The invention discloses a Nash game control method for automatic driving, steering and braking under emergency avoidance conditions. Firstly, a two-degree-of-freedom vehicle model is constructed according to the parameters of the vehicle, and a road model is constructed according to experimental road information, and a vehicle-road model is further constructed, and then a suitable vehicle-road model is selected The weighted items are used to construct the performance index function of the steering braking control, introduce the Nash game lemma, and establish the Hamiltonian equation to solve the control rate; finally, under the framework of the steering braking game control, the robust lateral stability of the shared control paradigm is designed Control Method. The conflict between road tracking and lateral stability control should be considered in critical situations such as vehicle emergency obstacle avoidance, so that the vehicle can not only steer accurately but also take into account lateral stability during emergency obstacle avoidance. The minimum value robust stability control method makes the vehicle extremely robust, making the vehicle safer and more reliable to complete emergency obstacle avoidance and other critical working conditions.

Description

technical field [0001] The invention relates to the technical field of automobile intelligent interaction and the automatic control driving safety technology of motor vehicles, specifically to a Nash game control method for automatic driving, steering and braking under emergency avoidance conditions. Background technique [0002] With the continuous advancement of science and technology, self-driving cars have gradually appeared in people's vision. When encountering sudden obstacles ahead, self-driving cars must have good coping capabilities like experienced drivers. During the development and improvement of smart cars, emergency avoidance is an inevitable dangerous condition in the traffic process for a long time in the future. [0003] During the emergency avoidance process of the self-driving vehicle, due to external disturbances such as sudden changes in road surface adhesion and crosswinds, vehicle stability problems are likely to occur. At this time, the yaw moment con...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B60W30/09B60W30/02B60W50/00B60W60/00
CPCB60W30/09B60W30/02B60W50/00B60W2050/002B60W2050/0031B60W2050/0022B60W2050/0025
Inventor 武健吴德喜包春江尹成强孙群
Owner LIAOCHENG UNIV
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