1624 results about "Vehicle dynamics" patented technology

The invention discloses an automatic driving control method based on passenger motion sickness perception and comfort, which comprises the following steps: acquiring and preprocessing vehicle dynamic performance data, passenger physiological signals and subjective scores, extracting dynamic characteristics such as linear acceleration, angular velocity, jerk and omnidirectional acceleration, and physiological characteristics such as electrocardio and galvanic skin; feature fusion and standardization are carried out; a passenger motion sickness perception and comfort score prediction model is constructed; an individualized motion sickness threshold value is constructed based on a model output result, a motion sickness risk score is calculated in combination with future short-time vehicle motion characteristics, and perspective estimation of the motion sickness risk is achieved; and executing a hierarchical processing strategy according to the sensitivity typing and the risk level, and dynamically adjusting the vehicle driving style, the sound-light-temperature environment in the vehicle and the voice prompt. According to the automatic driving control method based on the motion sickness sensing and comfort of the passenger, real-time identification and active intervention of the motion sickness state of the passenger can be achieved, and the riding comfort and the man-machine cooperation level of an automatic driving vehicle are improved.

The invention belongs to the field of traffic control, and relates to a high-risk scene-oriented risk, dynamics and intention collaborative trajectory prediction method, which comprehensively utilizes an outward risk clue, vehicle dynamics characteristics and driving intention information (historical trajectory characteristics), and constructs a priori enhanced risk attention mechanism and a three-body interaction micrograph module to predict the risk, dynamics and intention collaborative trajectory of a high-risk scene. Early perception of potential risks is realized; meanwhile, a multi-scale dynamic time sequence encoder is adopted to capture the dynamic change of the vehicle from short-term disturbance to long-term behavior trend; an explicit intention recognition auxiliary task is introduced, and semantic constraint and optimization are carried out on the multi-modal trajectory; through collaborative modeling of the modules, the trajectory prediction precision and robustness of the automatic driving system under complex high-risk situations such as sudden cut-in and sudden brake can be remarkably improved, more reliable prior support is provided for a subsequent decision and control module, and therefore the driving safety of a vehicle in a complex traffic environment is effectively improved.

The invention discloses a distributed intelligent control method for unmanned aerial vehicle cluster cooperative path planning, and relates to the technical field of unmanned aerial vehicle cluster cooperative control, and the method comprises the steps: collecting a dynamic feature set of an unmanned aerial vehicle in real time, and carrying out the time synchronization, noise filtering and formatting integration, and forming a local state data set; performing neighborhood collaborative analysis and temporary link planning on the local state data set to obtain relay chain layout data; performing environmental risk assessment and path feasibility analysis on the relay chain layout data to generate a candidate path set; adjusting the candidate path set through local obstacle avoidance and dynamic constraint to generate an executable path sequence, and generating a collaborative execution path through neighborhood communication and collaborative adjustment; performing task execution result integration and state updating on the collaborative execution path to generate group state data; and performing path feedback and loop optimization on the group state data to obtain a group collaboration result. And the task completion rate, the cooperation efficiency and the environment adaptability are improved.

The invention belongs to the technical field of reusable aircraft control, and relates to an intelligent fault diagnosis and control method for a reusable aircraft. According to the method, a control-oriented aircraft dynamics model is established, a neural network adaptive fault observer and a particle swarm optimization algorithm are fused, and high-precision tracking control over the attitude and trajectory of the aircraft is achieved. When faults such as performance loss of an actuator and unmeasurable deviation occur, fault information can be estimated quickly and accurately, the reconstructed fault information is integrated into control law design, and it is guaranteed that the aircraft still keeps stable flight in a serious fault state. Meanwhile, the method can effectively deal with composite disturbances such as pneumatic uncertainty, elastic modal coupling and external environment interference, and improves the real-time performance and accuracy of fault diagnosis by means of high-precision joint online estimation. In addition, the particle swarm optimization algorithm further enhances the overall performance and adaptive ability of the control system, so that the aircraft operates more efficiently and stably in the flight process.

The invention discloses a light passenger car chassis steering stability self-adaptive control method, which comprises the following steps of: collecting multi-dimensional working condition parameters in real time, and covering 12 types of key parameters such as a steering wheel rotating angle and a wheel speed; after preprocessing and abnormity diagnosis, double models are adopted to estimate the dynamic state of the vehicle in parallel; dynamically setting a control target, and realizing personalized control in combination with driver style recognition; the control quantity is optimized through multi-mode strategy dynamic switching and steering and braking system cooperative control; and actuator dynamic compensation, scenarized self-learning and multi-stage fault handling mechanisms are introduced. According to the method, the complex working condition adaptability is improved, the response speed is controlled, the subsystem cooperation efficiency is improved, the system robustness and the long-term use performance are enhanced, and the driving safety of the light bus is effectively guaranteed.

The invention discloses a curve driving collision early warning method and system based on multi-risk field fusion, and the method comprises the steps: 1, collecting vehicle dynamics data in real time, and carrying out the short-time prediction; step 2, geometric modeling and rasterization of a road; 3, constructing a geometric risk field; 4, constructing a kinetic energy risk field; 5, constructing a behavior risk field; step 6, constructing a comprehensive risk field; step 7, collision risk judgment; and step 8, generating an active intervention strategy. Collaborative perception and risk prediction of vehicles, roads and driving behaviors are realized through multi-risk field fusion, and potential collision hidden dangers of curve driving are identified in advance; a vehicle dynamics model and risk correction based on road adhesion are introduced to realize accurate risk assessment of the vehicle; multi-time window trajectory prediction and behavior modeling are adopted, so that the recognition capability of complex driving behaviors is improved; a closed-loop system from risk prediction and decision making to active control is realized, and the safety and stability of the vehicle driving in the curve scene are effectively improved.

The invention provides an automatic driving test scene generation method based on real traffic data, and solves the problems of low accident data utilization rate, SIL / HIL test splitting and insufficient boundary coverage in the prior art. Comprising the following steps: acquiring multi-source heterogeneous traffic accident data; cleaning data by adopting a joint interpolation-anomaly detection mechanism; vehicle dynamic sudden change characteristics within 0.5 second before braking are extracted through LSTM and DTW algorithms; constructing a three-dimensional scene pipeline driven by a physical engine, and dynamically associating the pavement slippery coefficient with the rainfall intensity; analyzing the accident text into simulation parameters by using a semantic-physical parameter converter; performing SIL-HIL cooperative verification: performing extreme illumination perception test and narrow road planning verification in an SIL environment, and realizing 1ms step length fault injection test in an HIL environment; positioning failure parameters based on Bayesian optimization; a GAN is adopted to generate a long-tail scene, and a test boundary is expanded by coupling extreme conditions such as rainstorm / low visibility; and outputting a standard scene library containing the collision probability thermodynamic diagram. The safety verification efficiency under the extreme working condition is remarkably improved.

The invention belongs to the field of intelligent vehicle-mounted technology, and particularly relates to a multifunctional vehicle-mounted sensing detection system based on multi-source information fusion, which comprises multi-source information acquisition, high-precision space-time synchronization and heterogeneous data preprocessing. A heterogeneous sensing system with feature level deep fusion, vehicle state dynamic performance evaluation and adaptive decision and risk evaluation capabilities is constructed, and a driving decision is dynamically adjusted through fusion perception and vehicle performance. The vehicle state and dynamic performance evaluation module is constructed by deeply integrating vehicle internal state data acquired by a vehicle-mounted diagnosis system into a perception fusion and decision planning process, and the core contradiction of disjunction of a perception result and a vehicle dynamic performance strategy is effectively solved. The system can evaluate key performance parameters such as power, braking, steering and the like of the vehicle and potential faults of the key performance parameters in real time, and the driving strategy and the safety margin are dynamically adjusted in the self-adaptive decision and risk evaluation module according to the actual physical limitation of the vehicle.

Narrow vehicles have multiple advantages but tend to have a limited application because they are roll unstable. The use of flywheels to increase their stability is a known method but the operation range, complexity, performance and cost usually limit the application of these vehicles. Stability and agility enhancement system and method enabling the application of stabilizing forces from flywheels and the steering of the trajectory concurrently and cooperatively with the driver's steering and assistance enable the benefit of reduced cost and complexity while providing enhanced performances, intuitive control, safety and operation range.

The invention relates to the technical field of unmanned aerial vehicle monitoring and trajectory processing, and discloses a low-altitude unmanned aerial vehicle dynamic trajectory tracking and predicting method based on multi-base-station cooperation. The method comprises the steps that signal parameters are obtained through multi-base-station collaborative observation, and a multi-modal position prediction set is generated; and performing classification and scoring according to the spatial distribution characteristics of the candidate points and the historical track points, and screening out an optimal prediction position point. And inputting the optimal prediction point and the historical trajectory into a generative model, and dynamically adjusting the number of trajectory points by analyzing the point distribution probability to form a preliminary smooth trajectory. And performing physical feasibility verification and fine adjustment on the trajectory according to kinematics constraints to obtain a final smooth continuous trajectory. And matching degree calculation is carried out by fusing alternative trajectories generated by a multi-kinematic model, and the most probable target trajectory is identified. According to the method, the robustness of trajectory prediction and the structural rationality of the generated trajectory in a complex observation environment are improved.

The invention relates to the technical field of traffic control, and provides a traffic adaptive control method and system based on vehicle state perception and an intelligent road network. The method comprises the steps that a vehicle state sensing module is installed on a target vehicle, and a vehicle state sensing multi-dimensional data stream is collected; an intelligent road network module is adopted to monitor a road network multi-dimensional data flow; carrying out fusion modeling on the vehicle state perception multi-dimensional data flow and the road network multi-dimensional data flow to generate a dynamic traffic scene model; traffic operation trend parameters are predicted based on a dynamic traffic scene model, and driving dynamic decision and traffic adaptive control are performed on a target vehicle through the parameters, so that the problem that the state of the target vehicle and the road network condition cannot be acquired and accurately analyzed in real time in the existing traffic control technology is solved. The technical problem that traffic flow and traffic adaptive control effects are poor due to the fact that vehicle state sensing and intelligent road network fusion modeling are solved, and the technical effects that accurate prediction and control of traffic flow and vehicle dynamic states are achieved through vehicle state sensing and intelligent road network fusion modeling, so that traffic management is optimized, and driving safety is improved are achieved.

The invention is suitable for the technical field of automatic driving, and provides an automatic driving vehicle blind area track prediction and planning method based on Transform, and the method comprises the steps: firstly constructing a key entrance point, calculating a shielding region, and then generating and maintaining a belief state of a ghost target in combination with a risk score; then, real and ghost targets are coded into Token in a unified mode, the Token is input into Transform for interactive modeling, and multi-modal track distribution is output; and finally, a variable anisotropic repulsive force potential field is constructed based on the predicted risk, and a safety control instruction is obtained through optimization solution and hard safety filtering. According to the method, continuous probabilistic estimation and interactive reasoning of the potential risk of the blind area are realized, a flexible defensive track can be generated according to the risk confidence and the dynamic state of the vehicle, and the traffic efficiency is guaranteed while the safety is improved.

The invention provides a vehicle driving state estimation method and system in a centralized driving mode, and relates to the technical field of electric automobiles, and the method comprises the following steps: determining wheel dynamic parameters based on sensor detection information and a seven-degree-of-freedom dynamic model related to wheels, and combining a preset Dugoff tire model to obtain initial tire force parameters; a vehicle-mounted infrared camera is used for obtaining road surface image information, the road surface image information is analyzed through a deep convolutional neural network based on semantic segmentation and a vehicle dynamics inversion method, an adaptive fusion mechanism is introduced for adjustment, and a target road surface adhesion coefficient is determined; correcting the initial tire force parameter by using the target road adhesion coefficient to obtain a target tire force parameter; inputting the current sensor detection information and the target tire force parameter into a self-adaptive unscented Kalman filter to obtain vehicle driving state information; the vehicle driving state information comprises the longitudinal speed, the transverse speed, the yaw velocity and the side slip angle of each tire.

The invention provides a vehicle working condition virtual debugging simulation method based on multi-modal perception fusion, and relates to the technical field of digital twinning, and the method comprises the steps: achieving the precise fusion of multi-modal perception data through the synchronous collection of visual, radar and acoustic signals and the unification of a time reference and a coordinate system; constructing a vehicle dynamics state model based on mutual information weighting and recursive filtering, and obtaining dynamically consistent state vectors; combining space-time modeling and robust coding to generate driving characteristics capable of being physically explained, and inputting the driving characteristics into a simulation environment; in the digital twinborn model, parameter adaptive tracking is realized through online correction and joint recursive updating; and closed-loop feedback debugging is formed by using the health index and the fault probability, so that virtual and real consistent and dynamically adjustable vehicle working condition simulation and intelligent debugging are realized. According to the method, fusion of multi-mode sensing data can be realized, so that the simulation model dynamically tracks the working condition of the vehicle.

The invention relates to a physical-data hybrid drive vehicle driving state estimation method, and belongs to the technical field of intelligent vehicle chassis dynamics state estimation. Constructing a mapping relation between the state estimation vector and sensor data by adopting a ridge regression method so as to explicitly express a vehicle movement mechanism; secondly, constructing a data driving model to implicitly extract vehicle sensor data features, and constructing an enhanced LSTM neural network with a double-stage attention mechanism as the data driving model; then, performing dynamic weighted fusion on an output result of the physical model and a sensor sample sequence output by the data driving model to realize deep coupling of physical mechanism knowledge and data driving characteristics; according to the method, the superiority of the method compared with other methods is verified through simulation testing and real vehicle testing.

The invention relates to an unmanned aerial vehicle track optimization method, system and device in an urban high-density airspace and a medium, and the method comprises the steps: dynamically dividing the urban airspace into space-time four-dimensional grid units of different scales according to the vertical height and the time axis based on the real-time airspace traffic density and environmental conditions; establishing a guide vector field pointing to a target position in each four-dimensional grid unit, and when an obstacle and / or a flight conflict is detected, generating a local disturbance vector and dynamically correcting the guide vector field in real time so as to autonomously generate a candidate flight trajectory; and calculating the energy consumption of the candidate flight path based on an unmanned aerial vehicle dynamics model and an environment model, and selecting a path with the lowest total energy consumption as a final flight path under the condition of meeting safety constraints and task time requirements. Compared with the prior art, in a complex dynamic environment of an urban high-density airspace, unification of real-time efficient planning of the flight path of the unmanned aerial vehicle, safe obstacle avoidance and low-energy-consumption optimization is realized.

The invention discloses a multi-source fusion real-time traffic perception and emergency early warning system and method based on vehicle and road cloud cooperation, and relates to the technical field of traffic management. The vehicle end system comprises an information acquisition and transmission module, a local decision module, a data receiving module, an emergency response module and a data feedback module, and the information acquisition and transmission module acquires vehicle peripheral information through a vehicle-mounted radar and a vehicle-mounted camera. According to the invention, a vehicle end collects local information such as obstacles around a vehicle and dynamic states of adjacent vehicles through a vehicle-mounted radar and a camera, a road end collects regional information such as road section traffic flow density, road damage and traffic facility states through a roadside camera and a sensor, and a cloud end integrates data at the two ends and carries out time-space synchronization through a multi-source fusion technology. The defect of a single vehicle end or road end sensing blind area is overcome, and complete sensing of the traffic state of the whole road network is achieved.

The invention provides a front and rear axle load estimation method and system and a steer-by-wire vehicle, and the method comprises the steps: (1) when the vehicle is in a longitudinal stable and straight driving state, updating the mass of the whole vehicle; (2) establishing a least square recursion equation with a forgetting factor based on the dynamic motion equation of the vehicle on the ramp, and calculating the gradient of the current ramp; and (3) calculating a front axle load and a rear axle load based on the whole vehicle mass and the current gradient. The whole vehicle mass estimation is started under the working conditions of longitudinal stability and straight driving, so that the reliability and the stability of the whole vehicle mass calculation process are ensured; besides, vehicle dynamics and kinematics models are fused, recursive calculation is performed by applying a least square method with a forgetting factor, the road gradient can be estimated in real time at high frequency and high precision under various driving working conditions of the vehicle, and the limitation of a traditional fixed parameter model is broken through.

The utility model discloses an intelligent communication antenna system capable of self-adapting to signal intensity, which is characterized by comprising an environment sensing module, a signal processing module and a fuzzy calculation adaptation module, and the environment sensing module, the signal processing module and the fuzzy calculation adaptation module are electrically connected. The environment sensing module comprises a signal state monitoring unit and a physical environment sensing unit; according to the utility model, through the arrangement of the environment sensing module and the fuzzy calculation adaptation module, if the attitude of the unmanned aerial vehicle changes in the driving process, the system can realize the dynamic prediction of the unmanned aerial vehicle according to fuzzy calculation in combination with the effects of multiple sensors such as a radar and a sensor, and can adjust the antenna parameters in time; according to the device, dynamic adaptation is realized through closed-loop feedback and sensing-processing-adjustment, so that the antenna signal strength can be adaptively switched when the attitude of the unmanned aerial vehicle changes quickly.

The invention discloses an early warning method and device for climbing instability of a crawler unmanned vehicle and a medium, and relates to the technical field of unmanned vehicle climbing control. The early warning method comprises the steps that a digital twin model of the tracked unmanned vehicle is constructed, the digital twin model fuses a motor dynamic model and a whole vehicle dynamic model, and virtual scene data is generated; real-time data of a multi-source sensor of the tracked unmanned vehicle are obtained, wherein the real-time data comprise vehicle posture data, environment data and driving system data; and constructing a time convolutional network prediction model based on transfer learning, performing pre-training by using virtual scene data as source domain data, and performing fine tuning by using real-time data as target domain data to form a target domain prediction model. And inputting the current data into the target domain prediction model, and outputting a predicted vehicle state parameter prediction sequence. According to the vehicle state parameter prediction sequence and a preset safety threshold value, the instability risk is evaluated, an early warning signal is sent out, and the generation logic of the early warning signal is evaluated and optimized through an early warning performance loss function.

The invention relates to an indoor unmanned aerial vehicle dynamic obstacle avoidance method and device, a medium and a program product. The method comprises the following steps: acquiring an initial planning path; dynamic obstacle detection is carried out to obtain an obstacle detection result, and the obstacle detection result comprises 4D grid codes corresponding to grid volume elements where one or more detected dynamic obstacles are located; segmenting the initial planning path based on the 4D grid codes of the one or more dynamic obstacles, and determining one or more target road sections needing to be replanned in the initial path; and re-planning the target road section by using an improved A star algorithm and a node search strategy, and combining the re-planned road section with other road sections in the initial planning path to obtain a final path planning result. According to the dynamic obstacle avoidance algorithm for the indoor unmanned aerial vehicle, sudden dynamic obstacles in an indoor environment are effectively dealt with, and path adjustment during dynamic obstacle avoidance is realized.

The application discloses a kind of distributed drive electric vehicle stability control method and system, desired centroid side slip angle and yaw angular velocity are calculated as control target according to vehicle dynamics model, actual centroid side slip angle and yaw angular velocity are estimated in real time by Kalman filtering.Further through stability judging law, vehicle state is identified using phase plane method.According to vehicle state, it is divided into: stable domain, coordination domain and non-stable domain.Further control target value and actual value are input into model reference adaptive controller, and the size of additional yaw moment and front wheel angle is respectively solved.The weight size of the two is calculated by the vehicle stability region determined in stability law.Additional front wheel angle can be directly input into vehicle actuator, if direct torque control is needed, additional yaw moment size needs to be input into torque distribution module for real-time solution, and finally left and right wheel torque value of front axle is output to vehicle actuator.

The invention relates to an intelligent vehicle taillight system, a control method thereof and a vehicle, the intelligent vehicle taillight system comprises a data acquisition module used for acquiring vehicle dynamic operation parameters and external environment information, the vehicle dynamic operation parameters comprise at least one of brake pedal stroke, steering angle, vehicle speed and automatic driving state data, and the external environment information is used for acquiring the external environment information; the external environment information comprises at least one of a rear vehicle distance and a pedestrian position; the intelligent control module is connected with the data acquisition module and is used for generating current working condition information of the vehicle based on the vehicle dynamic operation parameters and the external environment information; and the tail lamp is connected with the intelligent control module and performs corresponding display and projection operation according to the current working condition information. According to the invention, the driving safety can be improved.

The invention relates to an unmanned aerial vehicle trajectory tracking control method based on model prediction and preset performance constraint, and the method proposes to introduce Lyapunov stability constraint into a model prediction control framework and integrate a preset performance control mechanism, thereby achieving the unification of performance constraint and system stability analysis. Comprising the following steps: establishing a nonlinear system model based on unmanned aerial vehicle dynamics; position errors and attitude errors are defined, a preset performance function is constructed, and errors with performance constraints are converted into unconstrained errors through error normalization and nonlinear transformation; establishing a model prediction optimization problem on the premise of considering input saturation and stability constraints; designing an auxiliary control law based on the transformation error to construct a stability constraint; it is proved that the control strategy can ensure that errors meet preset performance constraints and system local asymptotic stability. According to the invention, stable and reliable trajectory tracking control of the unmanned aerial vehicle system can be realized, and the method has high tracking precision and good dynamic performance.

The invention discloses an unmanned aerial vehicle dynamic path planning method and device based on environment perception, electronic equipment and a storage medium, and belongs to the field of unmanned aerial vehicle path planning, and the method comprises the steps: obtaining an environment risk parameter when an unmanned aerial vehicle executes a task along a current flight path in real time; when each environment risk parameter is acquired, calculating and generating a current trajectory prediction value based on the currently acquired environment risk parameter; and when the current track predicted value exceeds a preset safety threshold value, generating an adjusted flight path capable of bypassing the obstacle by adopting a preset way-finding algorithm and taking the minimum obstacle avoidance path cost as an optimization target, and updating the adjusted flight path as a current flight path. By implementing the method and the device, the problem that the global optimum of path planning cannot be realized due to single sensing dimension and one-sided decision model in the prior art can be solved.

The invention discloses a vehicle control method and device based on multi-source information fusion and actuator health state monitoring. The vehicle control method comprises the steps that driver state data, vehicle dynamics data and environment information data are obtained; sensing and fusing the multi-source data to generate comprehensive sensing data; performing scene classification according to the comprehensive perception data, identifying and judging a current driving scene type, and determining a control demand of current driving; health state monitoring is conducted on vehicle actuators, and the working performance and reliability of all the actuators are evaluated in real time; according to a scene judgment result and an actuator health state monitoring result, dynamically adjusting weight distribution of each control target in a decision making process; and based on the adjusted weight distribution, executing multi-target collaborative optimization, generating an optimal control strategy, converting the optimal control strategy into a control instruction, and issuing the control instruction to a vehicle execution mechanism. And the technical bottlenecks of the existing system in complex scene adaptability, actuator collaborative optimization, fault handling capacity and the like can be solved.

The invention relates to the technical field of intelligent traffic, and discloses a camera state judgment method based on road surface covering and Hash comparison, and the method sequentially comprises the steps: extracting key frame pairs from a video stream at intervals; performing road surface region extraction on each frame of image to obtain a road surface mask; carrying out covering processing on the road surface area in each frame of image based on the mask to obtain a covered image; calculating a difference hash feature of each frame of covered image to obtain a hash code; calculating the Hamming distance between the Hash codes of the key frame pair; and judging whether the camera is in a rotating or stable state according to a comparison result of the Hamming distance and a threshold value. The method only depends on the video image data, does not need an external sensor, effectively eliminates the dynamic interference of the vehicle through covering the road surface, achieves the efficient and robust judgment of the state of the camera through combining the lightweight difference hash calculation, is low in calculation cost, and is suitable for edge equipment and complex road environments.

The invention relates to an intelligent sensing, predicting and tracking method for a dynamic target of an unmanned aerial vehicle, and belongs to the technical field of unmanned aerial vehicle autonomous control and path planning. According to the method, a target trajectory is predicted through a Kalman filter, unmanned aerial vehicle dynamics is accurately modeled by using a physical information neural network, and an optimal control sequence of a future time domain is solved through online rolling optimization by taking target trajectory prediction and an unmanned aerial vehicle dynamics model as constraints based on a model prediction control framework. And an autonomous closed loop of perception-prediction-planning-execution-updating is formed. The method effectively solves the problems of environment uncertainty, calculation real-time performance, complex scene multi-target tradeoff and the like of an existing method, provides a high-precision and low-delay dynamic target intelligent sensing prediction tracking method, and remarkably improves the precision and efficiency of dynamic target tracking of an unmanned aerial vehicle in a complex environment.

The invention discloses an electric vehicle lifting torque control method and system. The method comprises the steps that driving operation, vehicle state and environment data are collected in real time and preprocessed into multi-dimensional real-time feature vectors; based on the vector, extracting and updating a driving style feature vector by using an incremental clustering and lightweight time sequence convolutional network, and further mapping to generate a personalized cost function weight coefficient in model prediction control; synchronously operating the vehicle dynamics and thermodynamics simplified model, predicting a dynamic physical constraint boundary of a driving system in a future time domain, and constructing a dynamic feasible domain curve; taking a driver instant demand as a tracking target, fusing a personalized weight and a dynamic feasible region curve, constructing and solving a finite time domain constraint optimization problem, and generating a current period target torque instruction; and filter parameters are adaptively adjusted through inverse dynamic model feedforward compensation in combination with a dynamic feasible region, a final torque control instruction is generated, and unification of safety, smoothness and individuation of torque control is achieved.

The invention relates to a vehicle stability evaluation and early warning method and device, computer equipment and a medium. The method comprises the following steps: constructing a high-dimensional feature space fusing vehicle lateral, yaw, heeling and tire dynamic states; obtaining a vehicle dynamic state estimation value in the high-dimensional feature space based on the multi-source sensor data; determining a local stable manifold boundary representing the stable motion limit of the vehicle in the high-dimensional feature space according to the current vehicle driving condition; extracting stability risk characteristics of multiple dimensions in parallel according to a geometrical relationship and a dynamic evolution trend between a vehicle dynamic state estimation value and a local stability manifold boundary; generating a comprehensive risk level through a probability fusion model, and identifying a dominant instability mode; and when the comprehensive risk level exceeds a preset threshold value, triggering a corresponding predictive cooperative chassis control strategy according to the dominant instability mode. By adopting the method, multi-dimensional states can be fused in real time, and different instability modes can be recognized and distinguished in advance.