CN112026759A - Electric intelligent automobile collision avoidance device with multi-mode switching and method - Google Patents

Electric intelligent automobile collision avoidance device with multi-mode switching and method Download PDF

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CN112026759A
CN112026759A CN202010957212.4A CN202010957212A CN112026759A CN 112026759 A CN112026759 A CN 112026759A CN 202010957212 A CN202010957212 A CN 202010957212A CN 112026759 A CN112026759 A CN 112026759A
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vehicle
collision avoidance
distance
ecu
braking
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李茂月
河香梅
吕虹毓
周鹏
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Harbin University of Science and Technology
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Harbin University of Science and Technology
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • B60W30/0953—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18163—Lane change; Overtaking manoeuvres
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/408—Radar; Laser, e.g. lidar

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

The invention discloses an electric intelligent automobile collision avoidance device with multi-mode switching and a method thereof, relating to the technical field of active collision avoidance; the front end of the electric intelligent automobile is provided with a stepping drive motor, a vehicle speed sensor, an integrated safe distance model, a path planning module and an ECU (electronic control unit) of an MPC (multi-control unit) control method, a laser radar is fixed above an engine hood, a battery of the electric automobile is arranged at the bottom of the automobile, an electric power steering system is arranged in the automobile, the ECU is connected with the battery through an electric wire, and the ECU is connected with the stepping motor, the electric power steering system, the vehicle speed sensor and the laser radar through a CAN (controller area; the collision avoidance method comprises the following steps: when a vehicle suddenly appears in the front, the distance d between the vehicle and the front vehicle and the speed of the front vehicle are obtained through laser radar detection, the ECU respectively calculates the minimum safety distance required by braking and lane changing according to the speeds of the front vehicle and the rear vehicle, and compares the minimum safety distance with the real-time distance d between the two vehicles, so that the optimal collision avoidance mode is selected; the invention improves the safety and the real-time performance of the vehicle and is convenient for realizing rapid collision avoidance.

Description

Electric intelligent automobile collision avoidance device with multi-mode switching and method
Technical Field
The invention belongs to the technical field of active collision avoidance, and particularly relates to an electric intelligent automobile collision avoidance device with multi-mode switching and a method thereof.
Background
With the development of the automobile industry, the traffic accident rate is increased along with the increase of the traffic flow and the increase of the speed; although more and more passive safety measures are applied, the root cause of the traffic accident is not solved; the automobile active collision avoidance system controls the steering and speed of the vehicle according to the surrounding environment information acquired by the sensor, so that the vehicle can safely run without collision; in the prior art, collision avoidance is mainly realized in a braking mode, the collision avoidance mode is single, and under the emergency situation that a front vehicle suddenly appears and the like, collision is easy to occur due to the shortage of safe distance, so that an electric intelligent automobile collision avoidance device with multi-mode switching and a method thereof need to be developed.
Disclosure of Invention
In order to solve the existing problems, the invention aims to provide an electric intelligent automobile collision avoidance device with multi-mode switching and a method thereof.
The utility model provides an electronic intelligent automobile collision avoidance device with multi-mode switching which characterized in that: the system comprises an electric intelligent automobile, a laser radar, a stepping drive motor, a speed sensor, an integrated safe distance model, a path planning module, an ECU (electronic control unit) of an MPC (multi-control unit) control method, an electric automobile battery and an electric power steering system; the front end of the electric intelligent automobile is provided with a stepping drive motor, a vehicle speed sensor, an integrated safe distance model, a path planning module and an ECU (electronic control unit) of an MPC (multi-control unit) control method, a laser radar is fixed above an engine hood, a battery of the electric automobile is arranged at the bottom of the automobile, an electric power steering system is arranged in the automobile, the ECU is connected with the battery through a wire, and the ECU is connected with the stepping motor, the electric power steering system, the vehicle speed sensor and a CAN (controller area network) bus for the.
A collision avoidance method of an electric intelligent automobile with multi-mode switching comprises the following steps:
when a vehicle suddenly appears at the front, the distance d between the vehicle and the front vehicle and the speed of the front vehicle are obtained through laser radar detection, a vehicle speed sensor obtains the speed of the vehicle, information is transmitted to an ECU through a CAN bus, a safety distance model in the ECU respectively calculates the minimum safety distance required by braking and lane changing according to the speeds of the vehicle and the front vehicle, and compares the minimum safety distance with the real-time distance d of the two vehicles, and calculates the minimum safety distance required by braking and collision avoidance according to a formula (1):
Figure BDA0002679156600000021
wherein, V1、V2Respectively the speeds of the own vehicle and the preceding vehicle, a1The maximum braking acceleration of the vehicle for passenger comfort is-4 m/s2；
Calculating the minimum safe distance required by lane change and collision avoidance according to the formula (2):
d2＝(V1-V2)×1.2+d0 (2)
wherein, V1、V2Respectively the speed of the own vehicle and the speed of the preceding vehicle, d0In order to increase the safety distance in consideration of the width of the front vehicle, the safety distance is generally 2-5 m, and the safety distance is selected to be 5 m;
if the distance d between the two vehicles is larger than the minimum safety distance d required by braking and collision avoidance currently1The method of braking and avoiding collision is adopted, and the vehicle is at-4 m/s2Braking at the braking acceleration, if the distance d between the two vehicles is smaller than the minimum safety distance d required by braking collision avoidance1Greater than the minimum safe distance d required for lane change collision avoidance2And when the lane on the left side meets the lane change condition, the lane change collision avoidance mode is adopted for avoiding, firstly, a lane change track which is planned by a lane change path planning module in the ECU and is based on constant speed deviation and sine function superposition is tracked by using an MPC control method in the ECU, the best front wheel corner at each moment is output and is calculated into a steering wheel angle, the steering wheel angle is transmitted to an electric power steering system through a CAN bus, the vehicle is controlled to track the lane change track, the lane change collision avoidance is realized, and the lane change track function based on constant speed deviation and sine function superposition is as the following formula (3):
Figure BDA0002679156600000031
wherein, V1For the speed of the vehicle, t is the time after the lane change is started, x (t) is the longitudinal coordinate position on the lane change path, and y (t) isChanging the transverse coordinate position on the road path;
if the distance d between the two vehicles is smaller than the minimum safety distance d required by braking and collision avoidance currently1And is also smaller than the minimum safe distance d required by lane change and collision avoidance2When the vehicle is at-6 m/s2The braking acceleration is used for braking, and the collision damage is reduced by adopting a braking and collision avoidance mode.
Compared with the prior art, the invention has the beneficial effects that:
the invention solves the defect that the single braking collision avoidance method cannot avoid collision under the emergency working condition by a collision avoidance method of switching the braking mode and the lane changing mode, improves the safety and the stability, and is convenient to realize the rapid collision avoidance.
2, the track changing track based on constant speed deviation and sine function superposition is adopted, the curvature change of the track changing track is continuous and smooth, the riding comfort is improved, the curvatures at the starting point and the ending point of the track are both 0, and the stable starting and ending of the track changing of the automobile are facilitated.
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CAN buses and wires are omitted in all the drawings;
FIG. 1 is a side view of the structure of the present invention;
FIG. 2 is a top view of the structure of the present invention;
fig. 3 is a multi-mode handover collision avoidance flow chart.
Reference numerals: 1. a hood; 2. a step-by-step drive motor; 3. a vehicle speed sensor; 4. an ECU integrating a safe distance model, a path planning module and an MPC control method; 5. a laser radar; 6. an electric power steering system; 7. a rear wheel; 8. an electric vehicle battery; 9. a front wheel; 10. an electric intelligent automobile.
Detailed Description
As shown in fig. 1, the following technical solutions are adopted in the present embodiment: the front end of the electric intelligent automobile 10 is provided with a stepping drive motor 2, a vehicle speed sensor 3, an ECU4 integrating a safe distance model, a path planning module and an MPC control method, a laser radar 5 is fixed above an engine hood 1, an electric vehicle battery 8 is arranged at the bottom of the automobile, an electric power steering system 6 is arranged inside the automobile, an ECU4 is connected with the electric vehicle battery 8 through an electric wire, and an ECU4 is connected with the stepping motor 2, the electric power steering system 6, the vehicle speed sensor 3 and the laser radar 5 through a CAN bus.
A collision avoidance method of an electric intelligent automobile with multi-mode switching comprises the following steps:
when a vehicle suddenly appears at the front, the distance d between the vehicle and the front vehicle and the speed of the front vehicle are obtained by detecting the laser radar 5, the speed sensor 3 obtains the speed of the vehicle, information is transmitted to the ECU4 through a CAN bus, a minimum safety distance required by braking and lane changing is respectively calculated by a safety distance model in the ECU4 according to the speeds of the vehicle and the front vehicle, the minimum safety distance required by braking and collision avoidance is compared with the real-time distance d between the two vehicles, and the minimum safety distance required by braking and collision avoidance is calculated according to a formula (1):
Figure BDA0002679156600000041
wherein, V1、V2Respectively the speeds of the own vehicle and the preceding vehicle, a1The maximum braking acceleration of the vehicle for passenger comfort is-4 m/s2；
Calculating the minimum safe distance required by lane change and collision avoidance according to the formula (2):
d2＝(V1-V2)×1.2+d0 (2)
wherein, V1、V2Respectively the speed of the own vehicle and the speed of the preceding vehicle, d0In order to increase the safety distance in consideration of the width of the front vehicle, the safety distance is generally 2-5 m, and the safety distance is selected to be 5 m;
if the distance d between the two vehicles is larger than the minimum safety distance d required by braking and collision avoidance currently1When the mode of braking and avoiding collision is adopted for avoiding, the ECU4 outputs a braking signal, the braking signal is transmitted to the stepping driving motor 2 through a CAN bus, and the vehicle is realized at-4 m/s through the reverse rotation of the motor2Braking acceleration braking of (1);
if the distance d between the two vehicles is smaller than the minimum safety distance d required by braking and collision avoidance1Greater than the minimum safe distance d required for lane change collision avoidance2And when the left lane meets the lane changing condition, the lane changing avoiding is adoptedThe collision mode evasion method comprises the following steps that firstly, a track changing track based on constant speed deviation and sine function superposition is planned by a track changing path planning module in the vehicle ECU4, and the track changing track based on constant speed deviation and sine function superposition is as follows (3):
Figure BDA0002679156600000051
wherein, V1The vehicle speed is the vehicle speed, t is the time after the lane change is started, x (t) is the longitudinal coordinate position on the lane change path, and y (t) is the transverse coordinate position on the lane change path;
then, tracking the lane change track by an MPC control method, wherein the MPC control method comprises the following processes:
1) establishing a vehicle system state space expression:
because the tire slip rate has obvious influence on the stress of the tire, a vehicle system state space equation based on small angle assumption and considering the tire slip rate is established, and the expression is formula (4):
Figure BDA0002679156600000061
wherein m is the total vehicle mass, y is the lateral displacement of the vehicle, x is the longitudinal displacement of the vehicle, psi is the yaw angle,ffor the angle of rotation of the front wheel, IzIs the moment of inertia of the vehicle about the Z axis, a and b are the distances from the center of mass to the front and rear axes, respectively, CαfTransverse cornering stiffness of the front wheels, CαrFor transverse cornering stiffness of the rear wheels, ClfLongitudinal cornering stiffness of the front wheel, ClrFor longitudinal cornering stiffness of the rear wheel, alphafIs a front wheel side slip angle, αrIs a rear wheel side slip angle, sfIs front wheel slip ratio, srTaking the slip ratio of the rear wheel, wherein X is a ground horizontal axis coordinate system, and Y is a ground longitudinal axis coordinate system;
the specific values of the vehicle parameters are shown in table 1:
TABLE 1 vehicle parameter detailed values
Figure BDA0002679156600000062
Defining the system state variables as in equation (5):
Figure BDA0002679156600000063
defining front wheel steering anglefFor controlling the quantity u, the output quantities are selected as the yaw angle and the lateral displacement of the vehicle, and the state space equation can also be expressed by the formula (6):
Figure BDA0002679156600000071
2) establishing a discrete linear error model:
and (3) linearizing the state space equation by using an approximate linearization method to obtain a linear time-varying equation as shown in formula (7):
Figure BDA0002679156600000072
wherein A (t) is represented by formula (8):
Figure BDA0002679156600000073
wherein the content of the first and second substances,
Figure BDA0002679156600000074
Figure BDA0002679156600000075
b (t) is as in formula (9):
Figure BDA0002679156600000076
discretizing the linear time-varying equation by a first-order difference quotient method, wherein the discretized result is as shown in formula (10):
ξ(k+1)＝A(h)ξ(k)+B(h)u(k) (10)
where, a (h) is I + ta (T), b (h) is tb (T), T is a sampling time, and I is a unit matrix;
3) establishing a constraint condition:
the tyre slip angle is restricted to [ -2.5 DEG, 2.5 DEG ]](ii) a The lateral acceleration is constrained to [ -4 m.s.-2，4m.s-2]；
4) MPC control calculates the optimal front wheel turning angle:
in order to enable the intelligent vehicle to better track the reference track, an objective function which considers the vehicle state deviation and the control input gain is designed. Because constraint conditions are added, in order to prevent an infeasible solution, soft constraint is added into the objective function, and a relaxation factor in the soft constraint is selected to be 10; the objective function chosen here is as follows:
Figure BDA0002679156600000081
wherein Q and R are weight matrices; rho and are respectively a weight coefficient and a relaxation factor; np is a prediction time domain; nc is a control time domain;
according to the objective function and the constraint condition, the MPC control method solves the following problem in each control period, as shown in equation (12):
Figure BDA0002679156600000082
converting the problem into a linear quadratic problem, solving by using a quadratic programming algorithm to obtain a series of control input increments, as shown in formula (13):
ΔU*＝[Δu*(k),Δu*(k+1),...Δu*(k+Nc-1)]T (13)
by combining the basic principle of MPC control, the front wheel rotation angle output by the MPC control method can be obtained as shown in formula (14):
u(k)＝u(k-1)+Δu*(k) (14)
the MPC control method predicts the output of the next period of time through the current time state, obtains a new output quantity through an optimization process, and repeats the process in each period until the whole track-changing track tracking control process is completed; the ECU outputs the optimal front wheel rotation angle at each moment, calculates the optimal front wheel rotation angle into a steering wheel angle, transmits the steering wheel angle to the electric power steering system 6 through the CAN bus, controls the vehicle to steer, tracks the lane changing track and realizes lane changing collision avoidance;
if the distance d between the two vehicles is smaller than the minimum safety distance d required by braking and collision avoidance currently1And is also smaller than the minimum safe distance d required by lane change and collision avoidance2When the vehicle runs, the ECU4 outputs a braking signal, the braking signal is transmitted to the stepping drive motor 2 through the CAN bus, and the vehicle runs at-6 m/s through the reverse rotation of the motor2The braking acceleration of (2) brakes the braking to reduce the damage of the collision.

Claims (4)

1. The utility model provides an electronic intelligent automobile collision avoidance device with multi-mode switching which characterized in that: the system comprises an electric intelligent automobile, a laser radar, a stepping drive motor, a speed sensor, an integrated safe distance model, a path planning module, an ECU (electronic control unit) of an MPC (multi-control unit) control method, an electric automobile battery and an electric power steering system; the front end of the electric intelligent automobile is provided with a stepping drive motor, a vehicle speed sensor, an integrated safe distance model, a path planning module and an ECU (electronic control unit) of an MPC (multi-control unit) control method, a laser radar is fixed above an engine hood, a battery of the electric automobile is arranged at the bottom of the automobile, an electric power steering system is arranged in the automobile, the ECU is connected with the battery through a wire, and the ECU is connected with the stepping motor, the electric power steering system, the vehicle speed sensor and a CAN (controller area network) bus for the.
2. A collision avoidance method of an electric intelligent automobile with multi-mode switching is characterized in that the collision avoidance method comprises the following steps:
when a vehicle suddenly appears at the front, the distance d between the vehicle and the front vehicle and the speed of the front vehicle are obtained through laser radar detection, the speed of the vehicle is obtained through a vehicle speed sensor, information is transmitted to an ECU through a CAN bus, and a safe distance model in the ECU is respectively based on the speeds of the vehicle and the front vehicleCalculating the minimum safety distance required by braking and lane changing, comparing the minimum safety distance with the real-time distance d of the two vehicles, and if the distance d of the two vehicles is larger than the minimum safety distance d required by braking and collision avoidance1Avoiding by adopting a braking collision avoidance mode; if the distance d between the two vehicles is smaller than the minimum safety distance d required by braking and collision avoidance1Greater than the minimum safe distance d required for lane change collision avoidance2When the left lane meets lane changing conditions, the lane changing collision avoidance mode is adopted for avoiding; if the distance d between the two vehicles is smaller than the minimum safety distance required by braking collision avoidance and is also smaller than the minimum safety distance d required by lane change collision avoidance2And meanwhile, the collision damage is reduced by adopting a braking and collision avoidance mode.
3. The electric intelligent automobile collision avoidance method with multi-mode switching as claimed in claim 2, wherein the braking collision avoidance mode comprises the following processes:
when the current car appears suddenly, laser radar surveys and obtains the distance d and the preceding car speed of a car with the place ahead vehicle, and speed sensor obtains the speed of a car from, passes to ECU through the CAN bus with information, and the minimum safe distance that the braking was kept away and is collided required is calculated according to formula (1) to the safe distance model in the ECU:
Figure FDA0002679156590000021
wherein, V1、V2Respectively the speeds of the own vehicle and the preceding vehicle, a1The maximum braking acceleration of the vehicle for passenger comfort is-4 m/s2；
When the distance d between the two vehicles is larger than d1When the vehicle is at-4 m/s2The braking acceleration is used for braking, and the braking and collision avoidance functions are realized;
when the distance d between the two vehicles is less than d1And is also less than d2When the vehicle is at-6 m/s2The braking acceleration of (2) to reduce the damage of the collision.
4. The electric intelligent automobile collision avoidance method with multi-mode switching as claimed in claim 2, wherein the lane changing collision avoidance method comprises the following processes:
when the current car appears suddenly, laser radar surveys and obtains the distance d and the preceding car speed of a car with the place ahead vehicle, and speed sensor obtains the speed of a car from, passes to ECU with information through the CAN bus, and the safe distance model calculates the required minimum safe distance of lane change collision avoidance according to formula (2) in the ECU:
d2＝(V1-V2)×1.2+d0 (2)
wherein, V1、V2Respectively the speed of the own vehicle and the speed of the preceding vehicle, d0In order to increase the safety distance in consideration of the width of the front vehicle, the safety distance is generally 2-5 m, and the safety distance is selected to be 5 m;
when the distance d between the two vehicles is less than d1Is greater than d2When the laser radar detects that no other vehicle exists in the left lane, firstly, the self-vehicle traces a lane changing track based on constant speed deviation and sine function superposition according to a lane changing path planning module in the ECU, and then the lane changing track is tracked by using an MPC control method in the ECU, wherein the lane changing track based on constant speed deviation and sine function superposition is a formula (3):
Figure FDA0002679156590000031
wherein, V1The vehicle speed is the vehicle speed, t is the time after the lane change is started, x (t) is the longitudinal coordinate position on the lane change path, and y (t) is the transverse coordinate position on the lane change path;
the MPC control method in the ECU comprises the following steps:
1) establishing a vehicle system state space expression:
because the tire slip rate has obvious influence on the stress of the tire, a vehicle system state space equation based on small angle assumption and considering the tire slip rate is established, and the expression is formula (4):
Figure FDA0002679156590000032
wherein m is the total vehicle mass, y is the lateral displacement of the vehicle, x is the longitudinal displacement of the vehicle, psi is the yaw angle,ffor the angle of rotation of the front wheel, IzIs the moment of inertia of the vehicle about the Z axis, a and b are the distances from the center of mass to the front and rear axes, respectively, CαfTransverse cornering stiffness of the front wheels, CαrFor transverse cornering stiffness of the rear wheels, ClfLongitudinal cornering stiffness of the front wheel, ClrFor longitudinal cornering stiffness of the rear wheel, alphafIs a front wheel side slip angle, αrIs a rear wheel side slip angle, sfIs front wheel slip ratio, srTaking the slip ratio of the rear wheel, wherein X is a ground horizontal axis coordinate system, and Y is a ground longitudinal axis coordinate system;
defining the system state variables as in equation (5):
Figure FDA0002679156590000041
defining front wheel steering anglefFor controlling the quantity u, the output quantities are selected as the yaw angle and the lateral displacement of the vehicle, and the state space equation can also be expressed by the formula (6):
Figure FDA0002679156590000042
2) establishing a discrete linear error model:
and (3) linearizing the state space equation by using an approximate linearization method to obtain a linear time-varying equation as shown in formula (7):
Figure FDA0002679156590000043
wherein A (t) is represented by formula (8):
Figure FDA0002679156590000044
wherein the content of the first and second substances,
Figure FDA0002679156590000045
Figure FDA0002679156590000046
b (t) is as in formula (9):
Figure FDA0002679156590000051
discretizing the linear time-varying equation by a first-order difference quotient method, wherein the discretized result is as shown in formula (10):
ξ(k+1)＝A(h)ξ(k)+B(h)u(k) (10)
where, a (h) is I + ta (T), b (h) is tb (T), T is a sampling time, and I is a unit matrix;
3) establishing a constraint condition:
the tyre slip angle is restricted to [ -2.5 DEG, 2.5 DEG ]](ii) a The lateral acceleration is constrained to [ -4 m.s.-2，4m.s-2]；
4) MPC control calculates the optimal front wheel turning angle:
in order to enable the intelligent vehicle to better track the reference track, an objective function which considers the vehicle state deviation and the control input gain is designed. Because constraint conditions are added, in order to prevent an infeasible solution, soft constraint is added into the objective function, and a relaxation factor in the soft constraint is selected to be 10; the objective function chosen here is as follows:
Figure FDA0002679156590000052
wherein Q and R are weight matrices; rho and are respectively a weight coefficient and a relaxation factor; np is a prediction time domain; nc is a control time domain;
according to the objective function and the constraint condition, the MPC control method solves the following problem in each control period, as shown in equation (12):
Figure FDA0002679156590000061
converting the problem into a linear quadratic problem, solving by using a quadratic programming algorithm to obtain a series of control input increments, as shown in formula (13):
ΔU*＝[Δu*(k),Δu*(k+1),...Δu*(k+Nc-1)]T (13)
by combining the basic principle of MPC control, the front wheel rotation angle output by the MPC control method can be obtained as shown in formula (14):
u(k)＝u(k-1)+Δu*(k) (14)
the MPC control method predicts the output of the next period of time through the current time state, obtains a new output quantity through an optimization process, and repeats the process in each period until the whole track-changing track tracking control process is completed.
CN202010957212.4A 2020-09-12 2020-09-12 Electric intelligent automobile collision avoidance device with multi-mode switching and method Pending CN112026759A (en)

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CN113581278A (en) * 2021-07-20 2021-11-02 浙江万安科技股份有限公司 Multi-mode wire control chassis system and control method thereof

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