CN118061984B - Multi-stage yaw motion control method, system and equipment for unmanned vehicle - Google Patents

Multi-stage yaw motion control method, system and equipment for unmanned vehicle Download PDF

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CN118061984B
CN118061984B CN202410479267.7A CN202410479267A CN118061984B CN 118061984 B CN118061984 B CN 118061984B CN 202410479267 A CN202410479267 A CN 202410479267A CN 118061984 B CN118061984 B CN 118061984B
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center
vehicle
yaw
representing
around
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CN118061984A (en
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陈雪梅
刘聪
李健
杨鹏
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Advanced Technology Research Institute of Beijing Institute of Technology
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Advanced Technology Research Institute of Beijing Institute of 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
    • B60W30/02—Control of vehicle driving stability
    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/12—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to parameters of the vehicle itself, e.g. tyre models
    • B60W40/13—Load or weight
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/0098—Details of control systems ensuring comfort, safety or stability not otherwise provided for
    • 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
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0015—Planning or execution of driving tasks specially adapted for safety
    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/12—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to parameters of the vehicle itself, e.g. tyre models
    • B60W40/13—Load or weight
    • B60W2040/1315—Location of the centre of gravity

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The invention provides a method, a system and equipment for controlling multi-stage yaw motion of an unmanned vehicle, belonging to the technical field of unmanned vehicle motion control, wherein the method comprises the following steps: coordinate axis transformation is carried out on the obtained centroid position information to obtain a front axle center and a rear axle center, and a reference path of a target vehicle is set; switching motion control modes according to the deviation degree of the center position of the front axle, the center position of mass center and the center position of the rear axle of the vehicle from a reference path; constructing a calculation formula of a rotary motion control mode around the center of the rear axle, the center of the front axle and the center of mass, and respectively calculating corresponding expected yaw moments; and selecting the expected yaw moment corresponding to the switched motion control mode as the optimal yaw moment to perform yaw motion instability control. Based on the method, a system and equipment for controlling the multi-stage yaw movement of the unmanned vehicle are also provided. The invention can greatly reduce the risks of sideslip, tail flick and the like in the high-speed obstacle avoidance process of the vehicle and improve the operation stability of high-speed running.

Description

Multi-stage yaw motion control method, system and equipment for unmanned vehicle
Technical Field
The invention belongs to the technical field of unmanned vehicle motion control, and particularly relates to a method, a system and equipment for controlling multi-stage yaw motion of an unmanned vehicle.
Background
The unmanned vehicle driving stability control technology is a challenging task for the active safety system of the vehicle, and needs to face the situation that the non-linear motion state of the vehicle under the limit working condition is easier to cause the vehicle to lose stability, especially in the unstructured road surface scene with low adhesion and bumpy. The active safety technology is always a primary task focused in the field of automobiles, and aims at the unique chassis layout characteristics of the distributed driving vehicle, so that a high-efficiency dynamic model and a superior control mode are constructed, and the active safety technology has important significance for promoting the upgrade of the control technology of the control stability of the distributed driving unmanned vehicle under the limit working condition.
The distributed driving vehicle has great potential for improving the maneuverability and stability of the vehicle by virtue of the advantages of high transmission efficiency, flexible chassis arrangement, independent and controllable four-wheel torque and the like. When the distributed driving vehicle performs emergency risk avoidance behavior manipulation in a high-speed and low-adhesion unstructured road scene, the vehicle is extremely easy to generate irreversible yaw movement side-slip instability danger. Considering that uncertainty often exists in the optimal yaw motion control center position of the vehicle under the condition of different degrees of side slip instability, the existing distributed driving vehicle chassis stability control system is designed by adopting a traditional bicycle model, the advantages of four-wheel independent and controllable can not be exerted to the greatest extent, and the optimal additional yaw moment correction amount is difficult to obtain under the condition of instantaneous instability, so that the requirements of emergency obstacle avoidance yaw stability and over-bending mobility can not be met.
Disclosure of Invention
In order to solve the technical problems, the invention provides a multi-stage yaw motion control method, a system and equipment for an unmanned vehicle, which can greatly reduce risks of sideslip, tail flick and the like in the high-speed obstacle avoidance process of the vehicle and improve the control stability of high-speed running.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
a method for controlling multi-stage yaw movement of an unmanned vehicle, comprising the steps of:
Acquiring mass center position information of a target vehicle, performing coordinate axis transformation on the mass center position information to obtain a front axle center and a rear axle center, and setting a reference path of the target vehicle; switching motion control modes according to the deviation degree of the center position of the front axle, the center position of mass center and the center position of the rear axle of the vehicle from a reference path;
Constructing a calculation formula of a rotary motion control mode around the center of the rear axle, and obtaining a desired yaw moment around the center of the rear axle according to the deviation degree of the center of the front axle; constructing a calculation formula of a rotary motion control mode around the center of the front shaft, and obtaining a desired yaw moment around the center of the front shaft according to the deviation degree of the center position of the rear shaft; constructing a control mode calculation formula of rotational movement around the centroid position, and then determining to obtain a desired yaw moment around the centroid according to the deviation degree of the centroid position;
and selecting the expected yaw moment corresponding to the switched motion control mode as the optimal yaw moment to perform yaw motion instability control.
The multi-stage yaw motion control system of the unmanned vehicle comprises a preprocessing module, a construction module and a instability control module:
The preprocessing module is used for acquiring centroid position information of the target vehicle, performing coordinate axis transformation on the centroid position information to obtain a front axle center and a rear axle center, and setting a reference path of the target vehicle; switching motion control modes according to the deviation degree of the center position of the front axle, the center position of mass center and the center position of the rear axle of the vehicle from a reference path;
The construction module is used for constructing a calculation formula of a rotary motion control mode around the center of the rear axle and obtaining an expected yaw moment around the center of the rear axle according to the deviation degree of the center of the front axle; constructing a calculation formula of a rotary motion control mode around the center of the front shaft, and obtaining a desired yaw moment around the center of the front shaft according to the deviation degree of the center position of the rear shaft; constructing a control mode calculation formula of rotational movement around the centroid position, and then determining to obtain a desired yaw moment around the centroid according to the deviation degree of the centroid position;
the instability control module is used for selecting the expected yaw moment corresponding to the switched motion control mode as the optimal yaw moment to perform yaw motion instability control.
An unmanned vehicle multi-stage yaw motion control apparatus includes a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor, when executing the program, implements a method of unmanned vehicle multi-stage yaw motion control.
The effects provided in the summary of the invention are merely effects of embodiments, not all effects of the invention, and one of the above technical solutions has the following advantages or beneficial effects:
The invention provides a method, a system and equipment for controlling multi-stage yaw motion of an unmanned vehicle, belonging to the technical field of unmanned vehicle motion control, wherein the method comprises the following steps: acquiring mass center position information of a target vehicle, performing coordinate axis transformation on the mass center position information to obtain a front axle center and a rear axle center, and setting a reference path of the target vehicle; switching motion control modes according to the deviation degree of the center position of the front axle, the center position of mass center and the center position of the rear axle of the vehicle from a reference path; constructing a calculation formula of a rotary motion control mode around the center of the rear axle, and obtaining a desired yaw moment around the center of the rear axle according to the deviation degree of the center of the front axle; constructing a calculation formula of a rotary motion control mode around the center of the front shaft, and obtaining a desired yaw moment around the center of the front shaft according to the deviation degree of the center position of the rear shaft; constructing a control mode calculation formula of rotational movement around the centroid position, and then determining to obtain a desired yaw moment around the centroid according to the deviation degree of the centroid position; and selecting the expected yaw moment corresponding to the switched motion control mode as the optimal yaw moment to perform yaw motion instability control. Based on the multi-stage yaw motion control method of the unmanned vehicle, the multi-stage yaw motion control system and equipment of the unmanned vehicle are also provided. The invention constructs a multi-stage fusion yaw motion control mode taking the central position of the front axle, the central position of the mass center and the central position of the rear axle of the vehicle as yaw motion stability control centers, so as to fully exert the control potential of obstacle avoidance maneuverability and yaw motion stability of the distributed driving vehicle in a low-adhesion high-speed emergency avoidance scene.
According to the invention, the classical vehicle yaw motion dynamics model is refined and reconstructed, and the motion model capable of exerting the dynamic control limit of the chassis of the distributed driving vehicle to the maximum extent is constructed, so that the multistage coordination self-adaptive control of the yaw motion of the distributed driving vehicle is realized.
Drawings
Fig. 1 is a flowchart of a method for controlling multi-stage yaw motion of an unmanned vehicle according to embodiment 1 of the present invention;
FIG. 2 is a schematic diagram of a three-position locus of a vehicle body when a vehicle is running at a longitudinal vehicle speed under a double lane change condition without turning on a steering stability controller according to embodiment 1 of the present invention;
FIG. 3 is a schematic diagram showing lateral displacement deviation of a vehicle according to embodiment 1 of the present invention when a vehicle is not started and a steering stability controller is running at a longitudinal vehicle speed under a double-lane running condition and is subject to side-slip instability;
FIG. 4 is a schematic diagram of a multi-level yaw moment control mode proposed in embodiment 1 of the present invention;
FIG. 5 is a schematic diagram of yaw motion instability coordinates around the centroid position as proposed in embodiment 1 of the present invention;
FIG. 6 is a schematic diagram of the side-slip instability coordinate around the center of the rear axle according to embodiment 1 of the present invention;
FIG. 7 is a schematic diagram of a side-slip instability coordinate around the center of the front axle according to embodiment 1 of the present invention;
fig. 8 is a schematic diagram of a multi-stage yaw motion control system for an unmanned vehicle according to embodiment 2 of the present invention;
Fig. 9 is a schematic diagram of a multi-stage yaw movement control apparatus for an unmanned vehicle according to embodiment 3 of the present invention.
Detailed Description
In order to clearly illustrate the technical features of the present solution, the present invention will be described in detail below with reference to the following detailed description and the accompanying drawings. The following disclosure provides many different embodiments, or examples, for implementing different structures of the invention. In order to simplify the present disclosure, components and arrangements of specific examples are described below. Furthermore, the present invention may repeat reference numerals and/or letters in the various examples. This repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed. It should be noted that the components illustrated in the figures are not necessarily drawn to scale. Descriptions of well-known components and processing techniques and processes are omitted so as to not unnecessarily obscure the present invention.
Example 1
The embodiment 1 of the invention provides a multi-stage yaw motion control method for an unmanned vehicle, which is used for solving the technical problem that the optimal yaw motion control center position of the vehicle tends to be uncertain under the condition of different side-slip instability of the vehicle in the prior art, and the optimal additional yaw moment correction amount is difficult to obtain by a vehicle chassis stability control system under the condition of instantaneous instability.
FIG. 2 is a schematic diagram of a three-position locus of a vehicle body when a vehicle is running at a longitudinal vehicle speed under a double lane change condition without turning on a steering stability controller according to embodiment 1 of the present application; FIG. 3 is a schematic diagram showing lateral displacement deviation of a vehicle according to embodiment 1 of the present application when a vehicle is not started and a steering stability controller is running at a longitudinal vehicle speed under a double-lane running condition and is subject to side-slip instability; in the application, the longitudinal speed of the vehicle is 95km/h. As can be seen from fig. 2 and 3, the lateral displacement deviations of the three points of the vehicle body are significantly different under the condition of different degrees of side slip instability, so that the lateral displacement deviations can be used as main characteristic variables for realizing multi-level coordination yaw stability control of the vehicle. The scope of protection of the present application is not limited to the longitudinal vehicle speed listed in example 1. Those skilled in the art can make reasonable settings according to actual needs.
Fig. 1 is a flowchart of a method for controlling multi-stage yaw motion of an unmanned vehicle according to embodiment 1 of the present invention;
In step S100, centroid position information of the target vehicle is acquired, and coordinate axis transformation is performed on the centroid position information to obtain a front axis center and a rear axis center.
In the application, a GPS combined inertial navigation system obtains the position information of the mass center of a vehicle in real time, and the position information of the center of a front axle and the center of a rear axle is obtained according to the conversion of a coordinate system; the reference path information is provided by the path planning module in real time. And setting a reference path of the target vehicle.
In terms of stability control, even if the lateral deviation of the locus points of the center positions of the front and rear axles of the high-speed vehicle is within a small range, there is a potential risk of understeer or oversteer. Considering that the distributed driving vehicle has the advantages of four wheel drive and independent and controllable braking moment, the invention respectively shows the yaw movement methods of the wheels around the center of the rear axle, the center of mass and the center of the front axle because the control requirements of the vehicle in different unstable states often have differences. FIG. 4 is a schematic diagram of a multi-level yaw moment control mode proposed in embodiment 1 of the present invention; fig. 4 (a) is a diagram showing yaw motion about the center of the rear axle; fig. 4 (b) is a diagram of yaw motion around the centroid position; fig. 4 (c) is a diagram showing yaw motion around the center of the front axle; in terms of mobility, compared with a traditional single-motor driving mode, the distributed driving vehicle can flexibly and rapidly steer in a large-curvature curve and rapidly pass in a high-mobility way, and has a certain reference value for research on drift turning stability control of a high-speed vehicle and autonomous tracking of a high-speed unmanned vehicle.
According to the current centroid position and course angle information of the vehicle, the expression form of the central position coordinate of the rear axle is obtained as follows:
；（1）
Representing the central position coordinates of a rear axle of the vehicle; Representing the distance from the center of the rear axle to the mass center, namely the rear axle wheelbase; expressed as vehicle centroid coordinates; Expressed as the heading angle of the vehicle.
According to the current centroid position and course angle information of the vehicle, the expression form of the front axle center position coordinate is obtained as follows:
；（2）
wherein, Representing the central position coordinate of the front axle; representing the distance from the center of the front axle to the centroid position, i.e., the front axle wheelbase.
In step S110, the motion control mode is switched according to the degree of deviation of the vehicle front axle center position, the centroid position, and the rear axle center position from the reference paths, respectively.
In order to reduce the design complexity and the calculation cost of a control system, the proposed multi-stage yaw motion control mode is required to be reasonably distributed in consideration of the layout position of the current vehicle-mounted sensor, and the control mode is switched according to the three-point lateral displacement deviation of the unmanned vehicle.
The process of switching the motion control modes according to the deviation degree of the center position of the front axle, the center position of mass and the center position of the rear axle of the vehicle from the reference path comprises the following steps: presetting a first lateral distance deviation safety value of a centroid positionSecond lateral distance deviation safety value of front axle center positionThird lateral distance deviation safety value of center position of rear axle; At the same time satisfyAndSelecting yaw motion control around the center of the rear axle; wherein the method comprises the steps ofLateral distance deviation for the center position of the rear axle; at the same time satisfy、AndSelecting yaw motion control about the centroid position; wherein the method comprises the steps ofLateral distance deviation as centroid position; at the same time satisfyAndAt this time, yaw motion control around the center position of the front axle is selected.
In step S120, a rotational motion control pattern calculation formula around the rear axle center is constructed, and a desired yaw moment around the rear axle center is obtained according to the degree of deviation of the front axle center position; constructing a calculation formula of a rotary motion control mode around the center of the front shaft, and obtaining a desired yaw moment around the center of the front shaft according to the deviation degree of the center position of the rear shaft; a control mode calculation formula of the rotational motion around the centroid position is constructed, and then a desired yaw moment around the centroid is determined according to the degree of deviation of the centroid position.
In general, in different instability states, the central position of the front axle, the central position of the mass center and the central position of the rear axle of the vehicle are different from the expected track, and the multi-stage yaw motion dynamics model provided by the invention comprises three yaw motion stability control modes, so that the optimal additional yaw moment can be obtained more pertinently, and the potential of dynamic control of the chassis of the distributed drive vehicle can be exerted to the greatest extent.
The calculation formula for constructing the rotary motion control mode around the center of the rear axle is as follows:
；（3）
wherein, Representative ofThe rotational inertia of the shaft around the center of the rear shaft; A first derivative representing yaw rate about a center position of the rear axle; representing left front wheel lateral force; Representing the right front wheel lateral force; representing the steering angle of the front wheels; Representing the left front wheel longitudinal force; Representing the right front wheel longitudinal force; Represents the right rear wheel longitudinal force; Representing the left rear wheel longitudinal force; representing the distance from the center of the front axle to the mass center, namely the wheelbase of the front axle; b is at Front axle base or rear axle base.
When the vehicle turns oversteer or understeer, the center position of the front axle will deviate from the reference path point, fig. 7 is a schematic diagram of the side-slip instability coordinate around the center position of the front axle according to embodiment 1 of the present invention; in the context of the figure of the drawings,；。
Preferably calculating an optimal additional yaw moment about the central position of the rear axleTo quickly correct the lateral displacement deviation of the central position point of the front axle of the vehicle at the current moment and the relative path projection point.
Using an optimal yaw moment about the center of the rear axle as the yaw movement centerCorrecting the lateral displacement deviation between the central position point of the front axle of the vehicle at the current moment and the projection point of the relative reference path, wherein the specific formula is as follows:
；（4）
wherein, Representative ofThe rotational inertia of the shaft around the center of the rear shaft; An optimal additional yaw moment with a yaw movement center around the center position of the rear axle.
Constructing a calculation formula of a rotary motion control mode around the center of the front shaft, and obtaining a desired yaw moment around the center of the front shaft according to the deviation degree of the center position of the rear shaft;
The calculation formula for constructing the rotary motion control mode around the center of the front axle is as follows:
；（5）
wherein, Representative ofThe rotational inertia of the shaft around the center of the front shaft; A first derivative representing yaw rate about a front axle center position; Representing the right rear wheel lateral force; Representing left rear wheel lateral force.
When the vehicle sideslips or flicks the tail to a greater extent, the center position of the rear axle deviates more seriously from the reference path, and fig. 6 is a schematic diagram of the sideslip instability coordinate around the center position of the rear axle according to embodiment 1 of the present invention; in the view of figure 6 of the drawings,；。
Considering that ideal yaw motion controllers tend to have better attitude correction effects, the control system needs to calculate preferentially the optimal additional yaw moment with the front axle center position as the yaw motion centerTo ensure that the rear axle center position quickly follows the reference waypoint.
Optimum additional yaw moment using front axle center position as yaw movement centerCorrecting the lateral displacement deviation between the central position point of the front axle of the vehicle at the current moment and the projection point of the relative reference path, wherein the specific formula is as follows:
；（6）
wherein, Is the optimal additional yaw moment with the front axle center position as the yaw movement center.
Constructing a control mode calculation formula of rotational movement around the centroid position, and then determining to obtain a desired yaw moment around the centroid according to the deviation degree of the centroid position;
the centroid position is used as a yaw moment control center, so that the yaw movement stability of the vehicle can be improved within a limited sideslip instability range, an Electronic Stability Control (ESC) system can be started only when the vehicle is in an instability state, and fig. 5 is a schematic diagram of yaw movement instability coordinates around the centroid position, which is proposed in embodiment 1 of the invention; the front axle center position and the rear axle center position deviate greatly from the reference path point.
In the context of the illustration of figure 5,，。
The process of constructing a third yaw movement model for rotational movement about the centroid position includes: the two degree of freedom vehicle dynamics differential equation taking into account yaw motion is as follows:
；（7）
wherein, A first derivative representing centroid slip angle; representing the quality of the whole vehicle; representing longitudinal vehicle speed; Represents the cornering stiffness of the front tyre; represents the cornering stiffness of the rear tyre; represents the centroid slip angle; represents yaw rate; Representing the first derivative of yaw rate; Representing moment of inertia.
When the lateral acceleration of the vehicle is increased, the tire is in a nonlinear working area, and an actual two-degree-of-freedom vehicle dynamics differential equation after the optimal yaw moment which is around the centroid position and is the yaw movement center is modified is as follows:
；（8）
wherein, Representing yaw rate around centroid position; A first derivative representing yaw rate around the centroid position; An optimal yaw moment representing the center of yaw motion about the centroid position.
And controlling the deviation between the actual mass center position of the vehicle and the projection point position of the reference path in real time, wherein a differential equation of the mass center position of the vehicle is as follows:
；（9）
wherein, Representing the longitudinal speed of the vehicle in the coordinate system; representing the lateral speed of the vehicle in the coordinate system; For the longitudinal speed of the vehicle, Is the vehicle lateral speed.
In step S130, the desired yaw moment corresponding to the switched motion control mode is selected as the optimal yaw moment to perform yaw motion instability control, so as to improve lateral stability and over-bending mobility.
The embodiment 1 of the invention provides a multistage yaw motion control method of an unmanned vehicle, and discloses a multistage fusion yaw motion control mode with a front axle center position, a mass center position and a rear axle center position of the vehicle as yaw motion stability control centers, so as to fully exert control potential of obstacle avoidance maneuverability and yaw motion stability of a distributed driving vehicle in a low-adhesion high-speed emergency avoidance scene.
According to the multi-stage yaw motion control method for the unmanned vehicle, provided by the embodiment 1, a motion model capable of exerting the dynamic control limit of the chassis of the distributed driving vehicle to the maximum extent is constructed by refining and reconstructing a classical vehicle yaw motion dynamic model, so that multi-stage coordination self-adaptive control of the yaw motion of the distributed driving vehicle is realized.
According to the multi-stage yaw motion control method for the unmanned vehicle, which is provided by the embodiment 1 of the invention, the risks of sideslip, tail flick and the like in the high-speed obstacle avoidance process of the vehicle can be greatly reduced, and the operation stability of high-speed running is improved.
Example 2
Based on the method for controlling the multi-stage yaw motion of the unmanned vehicle according to embodiment 1 of the present invention, embodiment 2 of the present invention further provides a system for controlling the multi-stage yaw motion of the unmanned vehicle, and fig. 8 is a schematic diagram of the system for controlling the multi-stage yaw motion of the unmanned vehicle according to embodiment 2 of the present invention; the system comprises a preprocessing module, a construction module and a instability control module:
The preprocessing module is used for acquiring centroid position information of the target vehicle, performing coordinate axis transformation on the centroid position information to obtain a front axle center and a rear axle center, and setting a reference path of the target vehicle; switching motion control modes according to the deviation degree of the center position of the front axle, the center position of mass center and the center position of the rear axle of the vehicle from a reference path;
The construction module is used for constructing a calculation formula of a rotary motion control mode around the center of the rear axle and obtaining a desired yaw moment around the center of the rear axle according to the deviation degree of the center position of the front axle; constructing a calculation formula of a rotary motion control mode around the center of the front shaft, and obtaining a desired yaw moment around the center of the front shaft according to the deviation degree of the center position of the rear shaft; constructing a control mode calculation formula of rotational movement around the centroid position, and then determining to obtain a desired yaw moment around the centroid according to the deviation degree of the centroid position;
The instability control module is used for selecting the expected yaw moment corresponding to the switched motion control mode as the optimal yaw moment to perform yaw motion instability control.
In the preprocessing module: according to the current centroid position and course angle information of the vehicle, the expression form of the central position coordinate of the rear axle is obtained as follows:
；（1）
Representing the central position coordinates of a rear axle of the vehicle; Representing the distance from the center of the rear axle to the mass center, namely the rear axle wheelbase; expressed as vehicle centroid coordinates; Expressed as the heading angle of the vehicle.
According to the current centroid position and course angle information of the vehicle, the expression form of the front axle center position coordinate is obtained as follows:
；（2）
wherein, Representing the central position coordinate of the front axle; representing the distance from the center of the front axle to the centroid position, i.e., the front axle wheelbase.
The process of switching the motion control modes according to the deviation degree of the center position of the front axle, the center position of mass and the center position of the rear axle of the vehicle from the reference path comprises the following steps: presetting a first lateral distance deviation safety value of a centroid positionSecond lateral distance deviation safety value of front axle center positionThird lateral distance deviation safety value of center position of rear axle; At the same time satisfyAndSelecting yaw motion control around the center of the rear axle; wherein the method comprises the steps ofLateral distance deviation for the center position of the rear axle; at the same time satisfy、AndSelecting yaw motion control about the centroid position; wherein the method comprises the steps ofLateral distance deviation as centroid position; at the same time satisfyAndAt this time, yaw motion control around the center position of the front axle is selected.
In the construction module, a calculation formula of a rotary motion control mode around the center of the rear axle is constructed as follows:
；（3）
wherein, Representative ofThe rotational inertia of the shaft around the center of the rear shaft; A first derivative representing yaw rate about a center position of the rear axle; representing left front wheel lateral force; Representing the right front wheel lateral force; representing the steering angle of the front wheels; Representing the left front wheel longitudinal force; Representing the right front wheel longitudinal force; Represents the right rear wheel longitudinal force; Representing the left rear wheel longitudinal force; representing the distance from the center of the front axle to the mass center, namely the wheelbase of the front axle; b is at Front axle base or rear axle base.
Using an optimal yaw moment about the center of the rear axle as the yaw movement centerCorrecting the lateral displacement deviation between the central position point of the front axle of the vehicle at the current moment and the projection point of the relative reference path, wherein the specific formula is as follows:
；（4）
wherein, Representative ofThe rotational inertia of the shaft around the center of the rear shaft; An optimal additional yaw moment with a yaw movement center around the center position of the rear axle.
The calculation formula for constructing the rotary motion control mode around the center of the front axle is as follows:
；（5）
wherein, Representative ofThe rotational inertia of the shaft around the center of the front shaft; A first derivative representing yaw rate about a front axle center position; Representing the right rear wheel lateral force; Representing left rear wheel lateral force.
Optimum additional yaw moment using front axle center position as yaw movement centerCorrecting the lateral displacement deviation between the central position point of the front axle of the vehicle at the current moment and the projection point of the relative reference path, wherein the specific formula is as follows:
；（6）
wherein, Is the optimal additional yaw moment with the front axle center position as the yaw movement center.
The process of constructing a third yaw movement model for rotational movement about the centroid position includes: the two degree of freedom vehicle dynamics differential equation taking into account yaw motion is as follows:
；（7）
wherein, A first derivative representing centroid slip angle; representing the quality of the whole vehicle; representing longitudinal vehicle speed; Represents the cornering stiffness of the front tyre; represents the cornering stiffness of the rear tyre; represents the centroid slip angle; represents yaw rate; Representing the first derivative of yaw rate; Representing moment of inertia.
When the lateral acceleration of the vehicle is increased, the tire is in a nonlinear working area, and an actual two-degree-of-freedom vehicle dynamics differential equation after the optimal yaw moment which is around the centroid position and is the yaw movement center is modified is as follows:
；（8）
wherein, Representing yaw rate around centroid position; A first derivative representing yaw rate around the centroid position; An optimal yaw moment representing the center of yaw motion about the centroid position.
And controlling the deviation between the actual mass center position of the vehicle and the projection point position of the reference path in real time, wherein a differential equation of the mass center position of the vehicle is as follows:
；（9）
wherein, Representing the longitudinal speed of the vehicle in the coordinate system; representing the lateral speed of the vehicle in the coordinate system; For the longitudinal speed of the vehicle, Is the vehicle lateral speed.
And in the instability control module, the yaw movement instability control is carried out by adopting the finally obtained expected yaw moment, so that the lateral stability and the bending passing mobility are improved.
The embodiment 2 of the invention provides a multistage yaw motion control system of an unmanned vehicle, and discloses a multistage fusion yaw motion control mode which takes the central position of a front axle, the central position of a mass center and the central position of a rear axle of the vehicle as yaw motion stability control centers, so as to fully exert the control potential of obstacle avoidance maneuverability and yaw motion stability of a distributed driving vehicle in a low-adhesion high-speed emergency avoidance scene.
According to the unmanned vehicle multistage yaw motion control system provided by the embodiment 2 of the invention, a motion model capable of exerting the dynamic control limit of the chassis of the distributed driving vehicle to the maximum extent is constructed aiming at the classical vehicle yaw motion dynamic model for refinement and reconstruction, so that multistage coordination self-adaptive control of the yaw motion of the distributed driving vehicle is realized.
According to the multi-stage yaw motion control system for the unmanned vehicle, provided by the embodiment 2, the risks of sideslip, tail flick and the like in the high-speed obstacle avoidance process of the vehicle can be greatly reduced, and the operation stability of high-speed running is improved.
Example 3
The invention also provides a device, and fig. 9 is a schematic diagram of a multi-stage yaw motion control device for an unmanned vehicle according to embodiment 3 of the invention, including:
a memory for storing a computer program;
the processor is used for realizing the following steps when executing the computer program:
In step S100, centroid position information of the target vehicle is acquired, and coordinate axis transformation is performed on the centroid position information to obtain a front axis center and a rear axis center.
In step S110, the motion control mode is switched according to the degree of deviation of the vehicle front axle center position, the centroid position, and the rear axle center position from the reference paths, respectively.
In step S120, a rotational motion control pattern calculation formula around the rear axle center is constructed, and a desired yaw moment around the rear axle center is obtained according to the degree of deviation of the front axle center position; constructing a calculation formula of a rotary motion control mode around the center of the front shaft, and obtaining a desired yaw moment around the center of the front shaft according to the deviation degree of the center position of the rear shaft; a control mode calculation formula of the rotational motion around the centroid position is constructed, and then a desired yaw moment around the centroid is determined according to the degree of deviation of the centroid position.
In step S130, the desired yaw moment corresponding to the switched motion control mode is selected as the optimal yaw moment to perform yaw motion instability control, so as to improve lateral stability and over-bending mobility.
The embodiment 3 of the invention provides a multi-stage yaw motion control device for an unmanned vehicle, and discloses a multi-stage fusion yaw motion control mode with a front axle center position, a mass center position and a rear axle center position of the vehicle as yaw motion stability control centers, so as to fully exert control potential of obstacle avoidance maneuverability and yaw motion stability of a distributed driving vehicle in a low-adhesion high-speed emergency avoidance scene.
According to the unmanned vehicle multistage yaw motion control equipment provided by the embodiment 3 of the invention, a motion model capable of exerting the dynamic control limit of the chassis of the distributed driving vehicle to the maximum extent is constructed aiming at the classical vehicle yaw motion dynamic model for refinement and reconstruction, so that multistage coordination self-adaptive control of the yaw motion of the distributed driving vehicle is realized.
According to the multi-stage yaw motion control device for the unmanned vehicle, provided by the embodiment 3 of the invention, the risks of sideslip, tail flick and the like in the high-speed obstacle avoidance process of the vehicle can be greatly reduced, and the operation stability of high-speed running is improved.
It is necessary to explain that: the technical scheme of the application also provides electronic equipment, which comprises: a communication interface capable of information interaction with other devices such as a network device and the like; and the processor is connected with the communication interface to realize information interaction with other equipment, and is used for executing the multi-stage yaw motion control method of the unmanned vehicle provided by one or more of the technical schemes when running the computer program, and the computer program is stored in the memory. Of course, in practice, the various components in the electronic device are coupled together by a bus system. It will be appreciated that a bus system is used to enable connected communications between these components. The bus system includes a power bus, a control bus, and a status signal bus in addition to the data bus. The memory in the embodiments of the present application is used to store various types of data to support the operation of the electronic device. Examples of such data include: any computer program for operating on an electronic device. It will be appreciated that the memory can be either volatile memory or nonvolatile memory, and can include both volatile and nonvolatile memory. The non-volatile Memory may be, among other things, a Read Only Memory (ROM), a programmable Read Only Memory (PROM, programmable Read-Only Memory), erasable programmable Read-Only Memory (EPROM, erasable Programmable Read-Only Memory), electrically erasable programmable Read-Only Memory (EEPROM, ELECTRICALLY ERASABLE PROGRAMMABLE READ-Only Memory), magnetic random access Memory (FRAM, ferromagnetic random access Memory), flash Memory (Flash Memory), magnetic surface Memory, optical disk, or compact disk-Only (CD-ROM, compact Disc Read-Only Memory); the magnetic surface memory may be a disk memory or a tape memory. The volatile memory may be random access memory (RAM, random AccessMemory) which acts as external cache memory. By way of example and not limitation, many forms of RAM are available, such as static random access memory (SRAM, static Random Access Memory), synchronous static random access memory (SSRAM, synchronous Static Random Access Memory), dynamic random access memory (DRAM, dynamic Random Access Memory), synchronous dynamic random access memory (SDRAM, synchronousDynamic Random Access Memory), and so forth, Double data rate synchronous dynamic random access memory (DDRSDRAM, double Data Rate Synchronous Dynamic Random Access Memory), enhanced synchronous dynamic random access memory (ESDRAM, enhanced Synchronous Dynamic Random Access Memory), synchronous link dynamic random access memory (SLDRAM, syncLink Dynamic Random Access Memory), direct memory bus random access memory (DRRAM, direct Rambus Random Access Memory). The memory described by embodiments of the present application is intended to comprise, without being limited to, these and any other suitable types of memory. The method disclosed by the embodiment of the application can be applied to a processor or realized by the processor. The processor may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware in a processor or by instructions in the form of software. The processor may be a general purpose processor, a DSP (DIGITAL SIGNAL Processing, i.e., a chip capable of implementing digital signal Processing techniques), or other programmable logic device, discrete gate or transistor logic device, discrete hardware components, or the like. The processor may implement or perform the methods, steps, and logic blocks disclosed in embodiments of the present application. The general purpose processor may be a microprocessor or any conventional processor or the like. The steps of the method disclosed in the embodiment of the application can be directly embodied in the hardware of the decoding processor or can be implemented by combining hardware and software modules in the decoding processor. The software modules may be located in a storage medium having a memory, and the processor reads the program in the memory and performs the steps of the method in combination with its hardware. The corresponding flow in each method of the embodiments of the present application is implemented when the processor executes the program, and for brevity, will not be described in detail herein.
The description of the relevant parts in the system and the device for controlling the multi-stage yaw motion of the unmanned vehicle provided in embodiments 2 and 3 of the present application may refer to the detailed description of the corresponding parts in the method for controlling the multi-stage yaw motion of the unmanned vehicle provided in embodiment 1 of the present application, which is not repeated herein.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements is inherent to. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element. In addition, the parts of the above technical solutions provided in the embodiments of the present application, which are consistent with the implementation principles of the corresponding technical solutions in the prior art, are not described in detail, so that redundant descriptions are avoided.
While the specific embodiments of the present invention have been described above with reference to the drawings, the scope of the present invention is not limited thereto. Other modifications and variations to the present invention will be apparent to those of skill in the art upon review of the foregoing description. It is not necessary here nor is it exhaustive of all embodiments. On the basis of the technical scheme of the invention, various modifications or variations which can be made by the person skilled in the art without the need of creative efforts are still within the protection scope of the invention.

Claims (9)

1. A method for controlling multi-stage yaw movement of an unmanned vehicle, comprising the steps of:
Acquiring mass center position information of a target vehicle, performing coordinate axis transformation on the mass center position information to obtain a front axle center and a rear axle center, and setting a reference path of the target vehicle; switching motion control modes according to the deviation degree of the center position of the front axle, the center position of mass center and the center position of the rear axle of the vehicle from a reference path; the process for switching the motion control modes according to the deviation degree of the center position of the front axle, the center position of mass center and the center position of the rear axle of the vehicle from the reference path comprises the following steps: presetting a first lateral distance deviation safety value of a centroid position Second lateral distance deviation safety value of front axle center positionThird lateral distance deviation safety value of center position of rear axle；
At the same time satisfyAndSelecting yaw motion control around the center of the rear axle; wherein the method comprises the steps ofLateral distance deviation for the front axle center position; at the same time satisfy、AndSelecting yaw motion control about the centroid position; wherein the method comprises the steps ofLateral distance deviation as centroid position; at the same time satisfyAndSelecting yaw motion control around the center of the front axle; lateral distance deviation for the center position of the rear axle;
Constructing a calculation formula of a rotary motion control mode around the center of the rear axle, and obtaining a desired yaw moment around the center of the rear axle according to the deviation degree of the center of the front axle; constructing a calculation formula of a rotary motion control mode around the center of the front shaft, and obtaining a desired yaw moment around the center of the front shaft according to the deviation degree of the center position of the rear shaft; constructing a control mode calculation formula of rotational movement around the centroid position, and then determining to obtain a desired yaw moment around the centroid according to the deviation degree of the centroid position;
and selecting the expected yaw moment corresponding to the switched motion control mode as the optimal yaw moment to perform yaw motion instability control.
2. The method for controlling multi-stage yaw movement of an unmanned vehicle according to claim 1, wherein the process of obtaining centroid position information of a target vehicle and performing coordinate axis transformation on the centroid position information to obtain a rear axle center is as follows: according to the current centroid position and course angle information of the vehicle, the expression form of the central position coordinate of the rear axle is obtained as follows:
；（1）
Representing the central position coordinates of a rear axle of the vehicle; Representing the distance from the center of the rear axle to the mass center, namely the rear axle wheelbase; expressed as vehicle centroid coordinates; Expressed as the heading angle of the vehicle.
3. The method for controlling multi-stage yaw movement of an unmanned vehicle according to claim 2, wherein the process of obtaining centroid position information of the target vehicle and performing coordinate axis transformation on the centroid position information to obtain a front axle center comprises the following steps: according to the current centroid position and course angle information of the vehicle, the expression form of the front axle center position coordinate is obtained as follows:
；（2）
wherein, Representing the central position coordinate of the front axle; representing the distance from the center of the front axle to the centroid position, i.e., the front axle wheelbase.
4. The method for controlling the multi-stage yaw movement of the unmanned vehicle according to claim 2, wherein the construction of the rotational movement control pattern about the center of the rear axle is calculated by the following formula:
；（3）
wherein, Representative ofThe rotational inertia of the shaft around the center of the rear shaft; A first derivative representing yaw rate about a center position of the rear axle; representing left front wheel lateral force; Representing the right front wheel lateral force; representing the steering angle of the front wheels; Representing the left front wheel longitudinal force; Representing the right front wheel longitudinal force; Represents the right rear wheel longitudinal force; Representing the left rear wheel longitudinal force; representing the distance from the center of the front axle to the mass center, namely the wheelbase of the front axle; b is at Front axle distance or rear axle distance;
Using an optimal yaw moment about the center of the rear axle as the yaw movement center Correcting the lateral displacement deviation between the central position point of the front axle of the vehicle at the current moment and the projection point of the relative reference path, wherein the specific formula is as follows:
；（4）
wherein, Representative ofThe rotational inertia of the shaft around the center of the rear shaft; An optimal additional yaw moment with a yaw movement center around the center position of the rear axle.
5. The method for multi-stage yaw movement control of an unmanned vehicle according to claim 4, wherein the constructing a rotational movement control pattern about the center of the front axle is calculated by the following formula:
；（5）
wherein, Representative ofThe rotational inertia of the shaft around the center of the front shaft; A first derivative representing yaw rate about a front axle center position; Representing the right rear wheel lateral force; representing left rear wheel lateral force;
Optimum additional yaw moment using front axle center position as yaw movement center Correcting the lateral displacement deviation between the central position point of the front axle of the vehicle at the current moment and the projection point of the relative reference path, wherein the specific formula is as follows:
；（6）
wherein, Is the optimal additional yaw moment with the front axle center position as the yaw movement center.
6. The method of claim 5, wherein the constructing a third yaw movement model for rotational movement about the centroid position comprises: the two degree of freedom vehicle dynamics differential equation taking into account yaw motion is as follows:
；（7）
wherein, A first derivative representing centroid slip angle; representing the quality of the whole vehicle; representing longitudinal vehicle speed; Represents the cornering stiffness of the front tyre; represents the cornering stiffness of the rear tyre; represents the centroid slip angle; represents yaw rate; Representing the first derivative of yaw rate; Representing moment of inertia;
When the lateral acceleration of the vehicle is increased, the tire is in a nonlinear working area, and an actual two-degree-of-freedom vehicle dynamics differential equation after the optimal yaw moment which is around the centroid position and is the yaw movement center is modified is as follows:
；（8）
wherein, Representing yaw rate around centroid position; A first derivative representing yaw rate around the centroid position; An optimal yaw moment representing the center of yaw motion about the centroid position.
7. The unmanned vehicle multi-level yaw movement control method of claim 6, further comprising: controlling the deviation between the actual mass center position of the vehicle and the projection point position of the reference path in real time, wherein the differential equation of the mass center position of the vehicle is that
；（9）
Wherein,Representing the longitudinal speed of the vehicle in the coordinate system; representing the lateral speed of the vehicle in the coordinate system; For the longitudinal speed of the vehicle, Is the vehicle lateral speed.
8. A multi-stage yaw motion control system for an unmanned vehicle for implementing a multi-stage yaw motion control method for an unmanned vehicle according to any one of claims 1 to 7, comprising a preprocessing module, a construction module, and a destabilization control module:
The preprocessing module is used for acquiring centroid position information of the target vehicle, performing coordinate axis transformation on the centroid position information to obtain a front axle center and a rear axle center, and setting a reference path of the target vehicle; switching motion control modes according to the deviation degree of the center position of the front axle, the center position of mass center and the center position of the rear axle of the vehicle from a reference path;
The construction module is used for constructing a calculation formula of a rotary motion control mode around the center of the rear axle and obtaining an expected yaw moment around the center of the rear axle according to the deviation degree of the center of the front axle; constructing a calculation formula of a rotary motion control mode around the center of the front shaft, and obtaining a desired yaw moment around the center of the front shaft according to the deviation degree of the center position of the rear shaft; constructing a control mode calculation formula of rotational movement around the centroid position, and then determining to obtain a desired yaw moment around the centroid according to the deviation degree of the centroid position;
the instability control module is used for selecting the expected yaw moment corresponding to the switched motion control mode as the optimal yaw moment to perform yaw motion instability control.
9. An unmanned vehicle multistage yaw motion control apparatus comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor, when executing the program, implements a unmanned vehicle multistage yaw motion control method according to any one of claims 1 to 7.
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