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Control method for unstable motion of unmanned vehicle after collision

An unmanned vehicle and control method technology, applied in the control field of unmanned vehicle instability motion after collision, can solve the problems of lateral and yaw motion affecting vehicle restraint and other problems, achieve optimization of bad state promotion and improve robustness the effect of improving accessibility

Inactive Publication Date: 2020-06-05
SOUTHEAST UNIV
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Problems solved by technology

[0006] The technical problem to be solved by the present invention is: the above-mentioned traditional vehicle stability motion control method cannot meet the requirements of timely and effectively eliminating the impact of collision on the lateral and yaw motion of the vehicle and the feasibility of the vehicle constraint problem in feedback control. Provides a control method for unmanned vehicle post-collision destabilization motion, which is realized by combining the feed-forward control based on the steepest descent of collision energy and the feedback control based on model prediction

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  • Control method for unstable motion of unmanned vehicle after collision
  • Control method for unstable motion of unmanned vehicle after collision
  • Control method for unstable motion of unmanned vehicle after collision

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Embodiment Construction

[0018] The implementation cases of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0019] In order to realize the safe motion control of unmanned vehicles in the case of instability after a collision, the present invention proposes a joint motion control strategy of feedforward control and feedback control, using feedforward compensation for strong disturbances caused by collisions and feedback processing The optimization problem with constraints can solve the problems of control time lag, small control feasible region and small applicability to collision situations in traditional methods that only use feedback control. The feasibility and control effect of the method of the present invention are verified by simulation software. The planar dynamics model of the distributed drive unmanned vehicle is shown in Fig. figure 1 shown. where F lij represents the longitudinal driving force of the wheels of the mobile robot, F ...

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Abstract

The invention discloses a control method for unstable motion of an unmanned vehicle after collision. The method is applied to an unmanned vehicle with a distributed independent drive braking executionfunction. The instability motion control of the pilotless automobile under different collision conditions can be realized; tire force potential is fully utilized, reverse generalized tire lateral force is provided through active front wheel steering, reverse yawing moment is provided through coordination of four-wheel motor driving / braking control, and motion control over the unmanned vehicle after collision under the high-speed working condition is achieved. Through simulation verification, the control strategy provided by the invention can effectively reduce the motion deviation of the vehicle in the collision process so as to reduce the occurrence probability of subsequent collision, and has important engineering practical application significance of quick response, strong real-time performance and the like.

Description

technical field [0001] The invention relates to the technical field of automobile control, in particular to a control method for unsteady movement of an unmanned vehicle after collision. Background technique [0002] Accident data show that secondary crashes often result in higher injury and death rates than primary crashes. When a traditional car collides for the first time, the vehicle is impacted vertically and horizontally and rotates at a high speed, which makes it easy for the driver to make unreasonable driving operations and further deteriorates the vehicle's motion state. The current distributed driving / braking method will become one of the technologies for autonomous vehicles, and the overdrive characteristics can effectively realize vehicle lateral motion control and improve vehicle driving safety. At the same time, it expands the feasible area of ​​traditional vehicles on motion control actuators, which is more conducive to ensuring vehicle stability in emergenc...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W30/02B60W30/08
CPCB60W30/02B60W30/08B60W2030/082
Inventor 陈南曹铭聪王荣蓉王金湘鲁秀楠
Owner SOUTHEAST UNIV
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