Automatic control system and method for preventing side-slipping and side-turnover in curve road

Abstract

The invention relates to the safe auxiliary driving and intelligent control filed and discloses an automatic control system and a method for preventing side-slipping and side-turnover in a curve road. A vehicle-mounted automatic control system is adopted to control an intelligent vehicle. At first, information about curve road curvature is obtained; secondly, the information about curve road curvature is converted into digital signals and input into a vehicle-mounted micro-processor, curve road critical safe driving speed is calculated by a safe driving speed calculation module and current driving speed is measured by a vehicle-mounted sensor; then the current driving speed and the critical safe driving speed are judged by a safe condition judging module; and finally a system automatic control module is used to control the intelligent vehicle to pass through the curve road smoothly. The automatic control system and the method for preventing side-slipping and side-turnover in the curve road overcome the shortcoming that trajectory tracking is achieved by only using a vehicle kinematics controller, a designed vehicle dynamics controller guarantees straightaway automatic deceleration and practicability and instantaneity of maintenance in the curve road, and calculation accuracy of safe driving speed is improved. By means of dynamics control principles including equivalent control and switching control, the system chattering phenomenon can be restrained effectively and influence of external disturbances can be overcome.

Description

technical field [0001] The invention relates to the field of safety assisted driving and intelligent control, in particular to an automatic control system and method for anti-slip and rollover on curves. Background technique [0002] The design method of the anti-skid and rollover automatic control system of the vehicle is a safety-assisted driving technology commonly used in intelligent vehicles at present. The technical point is to track the desired vehicle driving state by designing the controller. It is related to the influence of friction, parameter perturbation and external interference. It has high safety speed calculation accuracy and trajectory tracking effect on straight road sections, improves vehicle driving safety and handling stability, and achieves the goal of improving anti-skidding and rollover control accuracy. Purpose. [0003] In the straight road section, although the design theory of the vehicle anti-skid and rollover automatic control system has been ...

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Problems solved by technology

[0003] In the straight road section, although the design theory of the vehicle anti-skid and rollover automatic control system has been basically perfected, but in view of the influence of many conditions such as superhigh road surface in the curved road section, the design theory of the vehicle anti-skid and rollover automatic control system still has the following problems Disadvantages: In curved road sections, it is difficult to ensure the accuracy of safe vehicle speed calculation. Due to the limitation of vehicle kinematics model, the control system lacks practical value. It is necessary to study the design method of dynamic control law, and it is necessary to improve the fast and accurate tracking of the system controller and globally stable properties

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