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

被引：0

作者：

Xu P. ^{[1
]}

Cai Y. ^{[1
]}

Lian Y. ^{[2
]}

Sun X. ^{[1
]}

Wang H. ^{[3
]}

Chen L. ^{[1
]}

Zhong Y. ^{[2
]}

机构：

[1] Automotive Engineering Research Institute, Jiangsu University, Zhenjiang

[2] BYD Auto Industry Co. ，Ltd., Shenzhen

[3] School of Automotive and Traffic Engineering, Jiangsu University, Zhenjiang

来源：

Qiche Gongcheng/Automotive Engineering | 2023年 / 45卷 / 01期

关键词：

autonomous driving; coordinated control; extensibility theory; stability control; whale algorithm;

D O I：

10.19562/j.chinasae.qcgc.2023.01.003

中图分类号：

学科分类号：

摘要：

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. © 2023 SAE-China. All rights reserved.

引用

页码：20 / 31

页数：11

共 23 条

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