Collision avoidance control method based on vehicle lateral stability domain

Abstract

The invention discloses a collision avoidance control method based on a vehicle lateral stability domain, and relates to the field of vehicle dynamics control and intelligent driving. The method comprises the following steps: firstly, establishing a vehicle three-degree-of-freedom model and a cubic term tire model, constructing a Lyapunov energy function based on the established vehicle model to obtain a lateral stability domain and a critical unstable front wheel steering angle of the vehicle at different vehicle speeds, and then constructing an overall coordination control framework comprising steering collision avoidance control and stability control, the stability domain is used as an elastic control target, yaw moment control is adopted to enable the state of the vehicle to be always in the stability domain, the safety is guaranteed, meanwhile, the stability performance of the vehicle is utilized to the maximum extent, the vehicle has a better collision avoidance effect under the limit condition, and multi-target coordination control over collision avoidance under the extreme working condition and stability control over the vehicle is achieved.

Description

technical field [0001] The invention belongs to the field of vehicle dynamics control and intelligent driving, in particular to a multi-target collision avoidance control method based on the Lyapunov stability domain. Background technique [0002] With the rapid development of artificial intelligence technology, intelligent driving technology has made rapid progress in recent years. Advanced driving assistance systems are also widely used in vehicles, and systems such as adaptive cruise control, lane departure warning, forward collision warning and automatic emergency braking have been developed one after another. The active collision avoidance control system is one of the core subsystems in the field of automotive active safety. Under the premise of fully sensing the surrounding traffic environment, the vehicle can avoid the danger of collision by steering or braking, which can effectively avoid the occurrence of traffic accidents. [0003] At present, active collision avo...

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Problems solved by technology

[0008] The purpose of the present invention is to provide a multi-objective collision avoidance control method based on the Lyapunov stable domain, to solve the problem of conflict between safety and stability of intelligent vehicles during collision avoidance under emergency conditions

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