考虑稳定性约束的智能车辆切换控制方法

Intelligent Vehicle Switching Control Considering Dynamic Stability Constraints

强化智能车辆主动避撞能力是提升车辆安全性的关键,紧急工况下主动避撞功能高效、稳定执行是保障智能车辆多目标准确切换的基础。而当前主动避撞方法须进一步提升面对不同方向切入车辆的避撞能力。本文针对上述问题,量化计算碰撞风险,构建目标切换逻辑,设计分层系统控制架构,提出智能车辆切换控制方法。本方法确保车辆在满足稳定性约束的同时,增强车辆主动躲避不同方向切入车辆碰撞的能力,实现不同行驶目标间的稳定切换。多车试验平台验证了该方法的有效性和正确性。

Strengthening active collision avoidance capability is the key to improving driving safety for intelligent vehicles.In particular,efficient and stable implementation of the active collision avoidance function in emergency is the basis for ensuring accurate multi-objective switching of intelligent vehicles.However,current active collision avoidance methods need to be further improved in terms of the collision avoidance ability when facing vehicles cutting in from different directions.To address the above-mentioned problems,a switching control method for the intelligent vehicle is proposed,which quantifies the collision risk,constructs target switching logic and designs a hierarchical system control structure.The proposed method strengthens the active collision-avoidance ability for cut-in vehicles from different directions to realize stable switching among different driving objectives under vehicle stability constraints.Finally,the multi-vehicle experimental platform verifies the effectiveness and correctness of the proposed method.