Integrated vehicle anti-rollover active control method based on collaborative distributed optimization

Abstract

The invention provides an integrated vehicle rollover prevention active control system based on collaborative distributed optimization, and the method comprises the steps: collecting vehicle information, and carrying out the online estimation and prediction of rollover indexes through a state observer; according to the method, the rollover indexes of the active braking controller, the active steering controller and the active suspension controller are calculated, then the weights of the active braking controller, the active steering controller and the active suspension controller in a cooperative distribution optimization problem are adjusted according to the rollover indexes, and finally a final control signal is obtained through a method for solving the optimization problem, so that the lateral movement stability of the vehicle is improved, and the rollover prevention performance of the vehicle is guaranteed. The collaborative distributed optimization design method is introduced into vehicle rollover prevention control, the lateral control requirements of different driving scenes are intelligently met, different lateral controllers are coordinated, and the driving safety of the vehicle is improved. According to the method, the cooperative control problem of the vehicle under different working conditions can be effectively solved, and the control effect of anti-rollover performance is improved.

Description

technical field [0001] The invention belongs to the technical field of vehicle active safety control, and in particular relates to an integrated vehicle anti-rollover active control method based on cooperative distributed optimization. Background technique [0002] In driving scenarios such as high-speed cornering, obstacle avoidance, and sharp turns and merging, vehicle rollover is a common traffic accident, which can cause serious injuries to drivers, passengers, and pedestrians. Vehicle rollover is common in heavy trucks, SUVs, pickups and other vehicles with long wheelbase and high center of gravity. When this type of vehicle turns, due to the excessive lateral acceleration, the balance weight of the left and right tires is unbalanced. Once the critical point is exceeded, rollover will occur. In response to this type of major traffic accident, major automakers have developed a variety of anti-rollover active control systems, including active braking systems (Active brea...

AI Technical Summary

Problems solved by technology

In addition, the current active anti-rollover control system affects the driver's control intention, that is, the generated active lateral motion control signal may interfere with the driver

Finally, factors such as nonlinear dynamic constraints, dynamic obstacle avoidance constraints, and state measurement disturbances when the vehicle is making a sharp turn also pose challenges to the design of the vehicle anti-rollover control algorithm

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