高速紧急避让汽车操纵逆动力学的建模与仿真

摘要

According to domestic vehicle high-speed safety requirements, this paper proposed to use optimal control method to study vehicle inverse dynamics in high-speed emergency avoidance and repeatedly avoidance condition. The steering angle input of 3-DOF vehicle mode is the control variable; accurately tracking the expected path is the control object; the optimal control problem can be converted into a nonlinear programming problem while using the state variables conversion, which was solved by the sequential quadratic programming(SQP) algorithm. The results show that vehicle can well track the expected path in high speed, and provide high-speed vehicle handling dynam- ics optimization design the certain reference and theoretical basis through comparing maneuverability of different ve- hicles tracking the same path in high speed.%针对国产汽车高速行驶安全性的需求，提出了利用最优控制方法，针对高速下的紧急避让（双移线）和多次避让（蛇形线）工况，进行汽车操纵逆动力学的研究。对3自由度角输入汽车模型，高速下以汽车转向盘转角输入为控制变量，精确跟踪所期望的路径为控制目标，利用状态变量的转换，将该最优控制问题转变为非线性规划问题，运用序列二次规划（SQP）进行求解。结果表明：该方法能够使汽车在高速下很好地跟踪所期望的避让路径，比较不同汽车跟踪同一路径的操纵性能，为高速汽车操纵动力学优化设计提供了一定的参考和理论依据。