Unmanned vehicle relaxed static stability dynamics control method and system

Abstract

The invention provides a method and system for unmanned vehicles to relax static stability dynamics control, which can relax the layout conditions of the unmanned vehicle lateral dynamics system, reduce the limitation of the traditional vehicle layout theory on the overall layout flexibility of unmanned vehicles, and improve the stability of the unmanned vehicles. The flexibility and design space of the overall layout of the man-vehicle chassis. Specifically: calculate the target active yaw moment required to achieve the preset target pole position through the preset target pole position and the current vehicle state parameters; then distribute the calculated target active yaw moment to each part of the unmanned vehicle Independently drive the wheels, so that the unmanned vehicle can obtain the vehicle dynamics performance corresponding to the preset target pole position. The adoption of this control system can relax the stability constraints of the overall layout of the unmanned vehicle, allowing the layout of the lateral dynamic system of the unmanned vehicle to be a statically unstable system, breaking through the traditional theoretical constraints of statically stable layout, especially suitable for the design of a full control-by-wire chassis After the scheme, the unmanned vehicle that leads to the static instability of the lateral dynamic system.

Description

technical field [0001] The invention relates to a dynamic control method and system for an unmanned vehicle, in particular to a dynamic control method and system for relaxing static stability of an unmanned vehicle, and belongs to the technical field of unmanned vehicles and automatic driving vehicles. Background technique [0002] Self-driving vehicles are an important development direction of the future automobile industry and one of the important areas where artificial intelligence technology is implemented. An unmanned vehicle refers to a vehicle that has the ability to act autonomously and completely omits the human driving mechanism. It has the characteristics of intelligence, wire control, robotization, and multi-function. The purpose of the use of unmanned vehicles is to replace humans to perform operational tasks, including but not limited to combat, combat, patrol, reconnaissance, logistics, transportation, ferry, distribution, cleaning and other civilian or milita...

AI Technical Summary

Problems solved by technology

[0004] When the full control-by-wire technology architecture is adopted, the overall layout of unmanned vehicles has undergone tremendous changes compared with traditional vehicles. Due to the special overall layout form, it will affect the static stability of the lateral dynamic system of unmanned vehicles, so that unmanned vehicles often The phenomenon of static instability (oversteering) of the lateral dynamic system makes it easy for the unmanned vehicle to lose handling stability under extreme driving conditions, which seriously affects the overall performance of the unmanned vehicle

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