基于改进分层可拓理论的智能汽车AFS/DYC协调控制

AFS/DYC Coordinated Control of Intelligent Vehicles Based on Improved Hierarchical Extensibility Theory

针对紧急避障及大曲率工况的稳定控制难题,提出基于改进分层可拓理论的AFS和DYC协调控制系统,引入了鲸鱼算法解决了可拓边界的自适应划分问题,既简化了分层可拓理论的边界确定过程,又遏制了控制器的一些较为强烈的输出振荡,显著提高了车辆控制的稳定性和安全性。所提AFS/DYC协调控制系统分上下两层,上层是改进分层可拓协调模块,下层是AFS/DYC控制器模块。上层可拓协调模块主要通过横摆角速度、纵向车速以及规划路径曲率来确定AFS和DYC的权重系数,下层控制器模块主要通过上层协调模块确定的权重系数来分配AFS和DYC的输出量,最终实现对智能车辆的稳定性控制。Carsim和Simulink联合仿真结果表明,所提协调控制系统在紧急避障、双移线等大曲率及曲率突变工况下,对横摆角速度和纵向车速的控制效果相较于分层可拓控制、普通可拓控制均有较大提升。

For the problem of emergency obstacle avoidance and stable control of large curvature conditions, the AFS and DYC coordinated control system based on improved hierarchical extensibility theory is proposed, and the whale algorithm is introduced to solve the adaptive division problem of the extendable boundary, which not only simplifies the boundary determination process of the hierarchical extensibility theory, but also curbs some of the strong output oscillations of the controller, which significantly improves the stability and safety of the vehicle control. The proposed AFS/DYC coordination control system is divided into two layers. The upper layer is an improved hierarchical extendable coordination module and the lower layer is an AFS/DYC controller module.The upper extendable coordination module mainly determines the weight coefficients of AFS and DYC through the yaw rate, longitudinal vehicle speed and planned path curvature, and the lower controller module mainly distributes the output of AFS and DYC through the weight coefficient determined by the upper coordination module, and finally realizes the stability control of intelligent vehicles. The joint simulation results of Carsim and Simulink show that the control effect of the proposed coordinated control system on the yaw rate and longitudinal vehicle speed is largely improved compared with the hierarchical extendable control and ordinary extendable control under the working conditions of large curvature and curvature mutation such as emergency obstacle avoidance and double shift line.