Integrated vehicle rollover prevention active control method based on collaborative distributed optimization

Abstract

The invention proposes an integrated vehicle rollover prevention active control system based on collaborative distributed optimization. The method collects vehicle information, estimates and predicts the rollover index online through a state observer, and then rolls over based on this method. index to adjust the weights of the active braking controller, active steering controller, and active suspension controller in the cooperative distributed optimization problem, and finally obtain the final control signal by solving the optimization problem to improve the lateral direction of the vehicle. The movement stability ensures the anti-rollover performance of the vehicle. The invention introduces a collaborative distributed optimization design method in the vehicle rollover prevention control, intelligently responds to the lateral control requirements of different driving scenarios, and cooperates with different lateral controllers to improve the driving safety of the vehicle. The invention can effectively improve the cooperative control problem of the vehicle in response to different working conditions, and improve the control effect of the anti-rollover performance.

Description

technical field [0001] The invention belongs to the technical field of vehicle active safety control, in particular to an integrated vehicle rollover prevention active control method based on collaborative distributed optimization. Background technique [0002] In driving scenarios such as high-speed cornering, avoiding obstacles, and merging sharply, vehicle rollover is a common traffic accident, which can cause serious injuries to drivers, passengers, and pedestrians. Vehicle rollover is common in heavy-duty trucks, SUVs, pickups and other vehicles with long wheelbases and high centers of gravity. Due to the excessive lateral acceleration of such vehicles when turning, 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 car manufacturers have developed a variety of anti-rollover active control systems, including active braking, active suspension, a...

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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