Vehicle driving safety is the urgent key problem to be solved of automobile independent development while encountering\nemergency collision avoidance with high speed. And it is also the premise and one of the necessary conditions of vehicle active\nsafety. A new technique of vehicle handling inverse dynamics which can evaluate the emergency collision avoidance performance\nis proposed. Based on optimal control theory, the steering angle input and the traction/brake force imposed by driver are the control\nvariables; the minimum time required to complete the fitting biker line change is the control object. By using the improved direct\nmultiple shooting method, the optimal control problem is converted into a nonlinear programming problem that is then solved\nby means of the sequential quadratic programming. The simulation results show that the proposed method can solve the vehicle\nminimum time maneuver problem, and can compare the maneuverability of two different vehicles that complete fitting biker line\nchange with the minimum time and the correctness of the model is verified through real vehicle test.
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