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

作　　者：张钰 徐明帆 白光宇 董明明[1] 高利[1] 秦也辰 Zhang Yu;Xu Mingfan;Bai Guangyu;Dong Mingming;Gao Li;Qin Yechen(School of Mechanical Engineering,Beijing Institute of Technology,Beijing 100081)

机构地区：[1]北京理工大学机械与车辆学院,北京100081

出　　处：《汽车工程》2023年第5期709-718,共10页Automotive Engineering

基　　金：国家自然科学基金面上项目(52272386);中国汽车工程学会青年人才托举计划资助。

摘　　要：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.

关 键 词：切换控制 主动避撞 分层控制架构 稳定性约束 实车验证 

分 类 号：U463.6[机械工程—车辆工程]