Research on SUV lane changing trajectory planning method integrating rollover stability
To address the problem of rollover safety during obstacle avoidance of sports utility vehicles (SUV) , the improved vehicle rollover evaluation indicator is derived and a model prediction controller integrating Harris Eagle algorithm (HHO) offline optimizer is designed.A six-degree-of-freedom vehicle dynamics model is built to derive and improve the rollover stability evaluation indicator.The self-vehicle state is collected and the vehicle parameters are put into the model prediction controller;the cost function that integrates the rollover evaluation indicator and yaw angle speed is designed;the offline optimizer with the HHO algorithm is also designed to optimize the weight coefficient of the parameters in the cost function.Three typical working conditions are selected for obstacle avoidance and rollover prevention control emulation.Our results show the SUV employing the model prediction controller that integrates the HHO offline optimizer effectively prevents rollovers and achieves fairly good robustness.
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