CN107878453B - A kind of automobile emergency collision avoidance integral type control method for hiding dynamic barrier - Google Patents
A kind of automobile emergency collision avoidance integral type control method for hiding dynamic barrier Download PDFInfo
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- CN107878453B CN107878453B CN201711081210.8A CN201711081210A CN107878453B CN 107878453 B CN107878453 B CN 107878453B CN 201711081210 A CN201711081210 A CN 201711081210A CN 107878453 B CN107878453 B CN 107878453B
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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
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
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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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
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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
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
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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
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0953—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic parameters
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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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
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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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/12—Lateral speed
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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
- B60W2554/00—Input parameters relating to objects
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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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/18—Braking system
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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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/20—Steering systems
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Abstract
The present invention relates to a kind of automobile emergency collision avoidance integral type control methods for hiding dynamic barrier, it is characterized in that, this method is to utilize path Dynamic Programming and real-Time Tracking Control module, according to the obstacle information, coordinate of ground point, vehicle driving state information acquired in real time, real-time optimization obtains the front wheel angle and four wheel slips of automobile, and then controls automobile and realize collision avoidance；Wherein, obstacle information includes the discrete point coordinate of the barrier appearance profile obtained by radar sensor measurement, and vehicle driving state information includes the automobile longitudinal speed obtained by vehicle speed sensor measurement and side velocity and measures the yaw velocity obtained by gyroscope；During controlling collision avoidance, by electric power steering (Electric Power Steering, EPS) torque compensation module according to speed, front-wheel additional rotation angle, determine that torque compensation controls gain, in the ideal range by steering wheel mutation Torque Control, the automobile emergency collision avoidance of man-machine harmony is realized.
Description
Technical field
The present invention relates to the advanced driving ancillary technique fields of automobile, and in particular to a kind of automobile emergency for hiding dynamic barrier
Collision avoidance integral type control method.
Background technique
It is convenient with fast that automobile can be brought, and driving safety has become global social concern.In order into
One step improves traffic safety, helps driver to reduce faulty operation, in recent years with advanced driving assistance system
(Advanced Driver Assistance Systems, ADAS) is that the intelligent automobile safe practice of representative is gradually paid attention to
And development.Pro-active intervention of the automobile emergency anti-collision system by actuator, the motion profile of auxiliary driver's adjustment automobile, realization
Collision avoidance.It can have good market prospects in the life of clutch rescue driver.
Automobile emergency collision avoidance control aspect has many research achievements, can preferably solve collision avoidance control problem, but this
A little research achievements are mainly for stationary obstruction.In terms of the automobile emergency collision avoidance control for considering moving obstacle, document
[Ackermann C,Isermann R,Min S,etal.Collision avoidance with automatic braking
And swerving [J] .IFAC Proceedings Volumes, 2014,47 (3): 10694-10699.] consider that barrier is vertical
To motion conditions, the speed difference of automobile and moving obstacle is detected, decision goes out the steering opportunity of collision avoidance, i.e., whether can be turned
To collision avoidance, but the dynamic change of dyskinesia object location is not accounted for during collision avoidance, and it is lateral not account for barrier
Motion conditions.The Chinese patent of Publication No. CN105539586A discloses a kind of automobile for autonomous driving and hides mobile barrier
Hinder the unified motion planning method of object, this method considers longitudinal direction and the lateral movement situation of barrier, but only goes out for decision
The steering opportunity of collision avoidance and collision avoidance path, also without the dynamic change for considering dyskinesia object location during collision avoidance.
Automobile emergency collision avoidance controls the pro-active intervention for be unableing to do without steering system.The existing rules and regulations steering wheel in Europe and steering
There must be mechanical connection between wheel, so active front steering system (Active Front Steering, AFS) is as modern
The transitional product of wire-controlled steering system (Steering-by-wire, SBW) comes into being afterwards.Document [Sumio Sugita,
Masayoshi Tomizuka.Cancellation ofUnnatural Reaction Torque in Variable-Gear-
Ratio[J].Journal of Dynamic Systems Measurement&Control,2012,134(2):021019.]
With document [AtsushiOshima, XuChen, Sumio Sugita, Masayoshi Tomizuka.Control design
for cancellation of unnatural reaction torque and vibrations in variable-
gear-ratio steering system[C].ASME 2013Dynamic Systems and Control
Conference.American Society of Mechanical Engineers,2013-3797,V001T11A003:
10pages.] AFS is demonstrated while change system is displaced transmission characteristic, it also will affect the force transfering characteristic of steering system,
Cause the mutation of hand-wheel torque.Excessive steering wheel mutation torque can aggravate the nervous psychology of driver, be easy to make driver
Maloperation is generated, driving safety is unfavorable for.Steering wheel mutation torque appropriate is but conducive to the posture change that driver perceives automobile
Change, and plays a warning role.But driver varies with each individual to the acceptable degree of steering wheel mutation torque.
Summary of the invention
In order to solve not account for the dynamic of dyskinesia object location existing for existing urgent collision avoidance method during collision avoidance
State changes and steering wheel existing for the unsafe technical problem of collision avoidance process and existing urgent collision avoidance method is caused to be mutated torque
Uncontrollable the technical issues of being easy to cause driver's maloperation, the present invention provide a kind of automobile emergency collision avoidance for hiding dynamic barrier
Integral type control method can assist driver to realize safe and reliable collision avoidance, save driver's life at the critical moment.
The technical solution adopted for solving the technical problem of the present invention is as follows:
1, a kind of automobile emergency collision avoidance integral type control method for hiding dynamic barrier, which is characterized in that this method is benefit
With path Dynamic Programming and real-Time Tracking Control module, according to the obstacle information, coordinate of ground point, running car acquired in real time
Status information, real-time optimization obtain the front wheel angle and four wheel slips of automobile, and then control automobile and realize collision avoidance；Its
In, obstacle information includes the discrete point coordinate of the barrier appearance profile obtained by radar sensor measurement, running car shape
State information includes the automobile longitudinal speed obtained by vehicle speed sensor measurement and side velocity and is obtained by gyroscope measurement
Yaw velocity；During controlling collision avoidance, pass through electric power steering (Electric Power Steering, EPS) torque
Compensating module determines that torque compensation controls gain according to speed, front-wheel additional rotation angle, by steering wheel mutation Torque Control in ideal
In range, the automobile emergency collision avoidance of man-machine harmony is realized；
Method includes the following steps:
Step 1, the performance indicator design process of automobile emergency collision avoidance control include following sub-step:
Step 1.1, use prediction time domain interior prediction track terminal point coordinate and coordinate of ground point error two norms as with
Track performance indicator embodies the track following characteristic of automobile, and expression formula is as follows:
Wherein, HpTo predict time domain, (Xt+Hp,Yt+Hp) it is the terminal point coordinate for predicting time domain interior prediction track, by car model
Iteration obtains, automobile coordinate of ground point (X to be achieved when collision avoidanceg,Yg)；
The Vehicle dynamics are as follows:
Fxi=fxicos(δi)-fyisin(δi),i∈{1,2,3,4} (15)
Fyi=fxisin(δi)+fyicos(δi),i∈{1,2,3,4} (16)
Wherein, Fxi、FyiRespectively four wheels along vehicle body coordinate direction longitudinal component and cross component force；fxi、fyiPoint
Not Wei four wheels along the component of wheel coordinate direction, wherein fxiFor the function of four wheel slips and analysis of wheel vertical load,
fyiFor the function of front wheel angle and analysis of wheel vertical load, specific value can be determined by magic formula；Respectively automobile longitudinal
Speed and longitudinal acceleration；Respectively automobile side angle speed and side acceleration；Respectively automobile sideway
Angle, yaw velocity and sideway angular acceleration；lf、lrRespectively distance of the automobile mass center to axle, lsFor wheelspan size
Half；JzFor the yaw rotation inertia of the vertical axis around automobile mass center；M is car mass；X, Y is respectively in earth coordinates
The transverse and longitudinal coordinate of Location of Mass Center of Automobiles；δiFor four wheel steering angles, automobile is front-wheel steer here, therefore δ3=δ4=0；
The parameter of the magic formula show that expression is as follows by test fitting:
Wherein, V is current automobile longitudinal speed；αf、αrRespectively front-wheel side drift angle and rear-wheel side drift angle；Fz,f、Fz,rRespectively
For automobile axle load；siFor four wheel slips of automobile；Axi、Bxi、Cxi、Dxi、ExiAnd Ayi、Byi、Cyi、Dyi、EyiFor
Fitting parameter is tested, design parameter is as shown in following table:
3 magic formula parameter of table
| a0 | a1 | a2 | a3 | a4 | a5 | a6 | ||
| 1.75 | 0 | 1000 | 1289 | 7.11 | 0.0053 | 0.1925 | ||
| b0 | b1 | b2 | b3 | b4 | b5 | b6 | b7 | b8 |
| 1.57 | 35 | 1200 | 60 | 300 | 0.17 | 0 | 0 | 0.2 |
Step 1.2 uses two norms of control amount change rate as the smooth index of braking in a turn, holding during embodiment collision avoidance
The braking in a turn smoothness properties of row device, control amount u are four wheel slip s of vehicle front corner δ and automobilei i∈{1,2,
3,4 }, the discrete smooth index of quadratic form braking in a turn is established are as follows:
Wherein, HcTo control time domain, t indicates current time, and Δ u is control amount change rate, and w is the weight coefficient of Δ u；
Step 2, the constrained designs process for considering the automobile emergency collision avoidance control of moving obstacle include following sub-step:
Step 2.1, setting actuator physical constraint, meet actuator requirement；
Using the bound of linear inequality limitation front wheel angle and four wheel slips, steering, braking are respectively obtained
The physical constraint of actuator, mathematic(al) representation are as follows:
δmin< δk,t< δmaxK=t, t+1 ... t+Hc-1 (3)
simin< sik,t< simaxI ∈ { 1,2,3,4 } k=t, t+1 ... t+Hc-1 (4)
Wherein, δminFor front wheel angle lower limit, δmaxFor the front wheel angle upper limit, siminFor four wheel slip lower limits, simax
For four wheel slip upper limits；
Step 2.2, setting position constraint, guarantee to collide with barrier during collision avoidance；
The location information of t moment barrier may be characterized as the set of N number of discrete point, these information can be surveyed by radar sensor
Amount obtains, wherein the coordinate representation of j-th of discrete point is (Xj,t,Yj,t), the automobile center-of-mass coordinate of t moment is denoted as (Xk,t,Yk,t),
It can be calculated as the car model described in step 1.1, position constraint is set to
Wherein, a is distance of the automobile mass center to headstock；B is distance of the automobile mass center to the tailstock；C is the one of automobile vehicle width
Half；For the yaw angle for having taken t moment as k moment automobile in point prediction time domain；Dx,j,tIt is j-th of discrete point of barrier in vapour
The fore-and-aft distance of automobile mass center, D are arrived in vehicle coordinate systemy,j,tAutomobile matter is arrived in vehicle axis system for j-th of discrete point of barrier
The lateral distance of the heart；
It is assumed that for barrier along Y-direction with constant speed movement, formula (5) characterizes automobile and barrier in prediction time domain
The degree of closeness of N number of discrete point,Value is bigger, illustrates that automobile is closer at a distance from the corresponding discrete point of barrier, also more endangers
Danger；Define t momentBeing worth maximum barrier discrete point j is the dangerous point in current sample period, is denoted as (Xj,t,Yj,t), pre-
It surveys in time domain and iterative relation, which indicates, to be predicted to barrier movement based on this dangerous point are as follows:
Wherein, (Xj,t-1,Yj,t-1) it is coordinate of the dangerous point at the t-1 moment；(Xj,k,Yj,k) it is to predict that the k moment endangers in time domain
The coordinate nearly put；
Barrier discrete point coordinate by way of iteration in more new formula (5), by barrier in prediction time domain
Change in location is integrated into the position constraint of Model Predictive Control Algorithm；
Step 3, building automobile emergency collision avoidance Multiobjective Optimal Control Problems, solve Multiobjective Optimal Control Problems, with dynamic
Modal constraint form formulates the not collision path of running car, realizes the automobile emergency collision avoidance control for considering moving obstacle, packet
Include following sub-step:
Step 3.1 obtains obstacle information by radar sensor, obtains garage by vehicle speed sensor and gyroscope
The obstacle information and vehicle driving state information input collision avoidance controller sailing status information, and will acquire；
Step 3.2, using weigthed sums approach by braking in a turn described in tracking performance index described in step 1.1 and step 1.2
Smooth index is converted into single index, constructs automobile emergency collision avoidance Multiobjective Optimal Control Problems, which will meet simultaneously turns
To the physical constraint and position constraint of, brake actuator, and guarantee that urgent anti-collision system input and output meet described in step 1.1
Vehicle dynamics characteristic:
It submits to
I) Vehicle dynamics
Ii) constraint condition is formula (3)~(9)
Step 3.3, in urgent collision avoidance controller, call SQP algorithm, solve Multiobjective Optimal Control Problems (10), obtain
To optimal opened loop control u*Are as follows:
It submits to
I) Vehicle dynamics
Ii) constraint condition is formula (3)~(9)
Step 3.4 utilizes current time optimal opened loop control u*(0) it is fed back, realizes closed-loop control, realize consideration
The automobile emergency collision avoidance of moving obstacle controls.
Step 4, design are implanted with the EPS torque compensation module that steering wheel mutation torque hommization adjusts algorithm, and EPS torque is mended
Module is repaid according to speed, front-wheel additional rotation angle, determines that torque compensation controls gain, by steering wheel mutation Torque Control in ideal model
It encloses；Wherein, front-wheel additional rotation angle is front wheel angle and the driver of path Dynamic Programming and real-Time Tracking Control module optimization
The difference for turning to the front wheel angle that input generates, is realized by AFS control system；Design process includes following sub-step:
The design method of step 4.1, EPS torque compensation module are as follows: it chooses several drivers and carries out real vehicle debugging, it is logical first
Toning orders speed for a trial, determines torque compensation control gain under front-wheel additional rotation angle, laboratory technician according to the subjective feeling of driver into
Row is debugged repeatedly, guarantees that steering wheel mutation torque can be received by driver；
Step 4.2 changes front-wheel additional rotation angle, and laboratory technician, which debugs torque compensation control gain, makes different front-wheel additional rotation angles
Steering wheel mutation torque under intervening can be received by driver, and then determine that the torque compensation under the speed controls gain；
Step 4.3 determines torque compensation under different speeds, different front-wheel additional rotation angle intervention using identical method
Gain is controlled, the determination of speed, front-wheel additional rotation angle, torque compensation control gain three-dimensional MAP chart is completed, uses torque compensation control
Three dimension table of gain processed carries out torque compensation control, in the ideal range by steering wheel mutation Torque Control, realizes that steering wheel is prominent
The automobile emergency collision avoidance that torque-variable hommization is adjusted.
EPS torque compensation control gain three-dimensional MAP chart is implanted into EPS controller, the control of EPS controller by step 4.4
EPS assist motor reaches the control effect of torque compensation.
The beneficial effects of the present invention are: this method passes through building multi-objective optimization question, when solving automobile emergency collision avoidance
Path Dynamic Programming and real-time tracking problem, and the case where consider dynamic barrier simultaneously, realize the optimal collision avoidance of safety.The party
Method is based on Model Predictive Control and constructs multi-objective optimization question, then not collision path has been formulated in the form of dynamic constrained, with biography
Hierarchical method of uniting is high compared to real-time, and path meets Dynamic Constraints, and collision avoidance process is more reliable.This method breaks the barriers
The mode of changes in coordinates converts barrier motion conditions to the dynamic constrained of collision avoidance control Optimization Solution, solves avoidance control
Moving obstacle problem in system；This method is by EPS torque compensation controller, by steering wheel mutation Torque Control in driver
Acceptable range, this method are debugged the control gain of EPS torque compensation repeatedly using the mode of subjectivity evaluation and test, are realized
Hommization mutation torque adjusting.
Detailed description of the invention
Fig. 1 is the schematic illustration for the automobile emergency collision avoidance control integrated process that the present invention hides moving obstacle.
Fig. 2 is automobile and Obstacle Position relation schematic diagram.
Fig. 3 is automobile and barrier movement relation schematic diagram.
Fig. 4 is car model figure of the present invention.
Fig. 5 is EPS torque compensation controller experiment flow of the invention.
Fig. 6 is EPS torque compensation control gain three-dimensional MAP chart of the present invention.
Specific embodiment
The present invention is described in further details with example with reference to the accompanying drawing.
As shown in Figure 1, a kind of automobile emergency collision avoidance control integrated process for hiding moving obstacle of the present invention is: path
Dynamic Programming and real-Time Tracking Control module 1 are believed according to the obstacle information, coordinate of ground point, vehicle driving state acquired in real time
Breath, real-time optimization show that the front wheel angle and four wheel slips of automobile 2, control automobile 2 realize collision avoidance；Wherein, barrier
Information includes the discrete point coordinate of barrier appearance profile, is measured and is obtained by radar sensor；Vehicle driving state information includes
Automobile longitudinal speed, side velocity, yaw velocity, automobile longitudinal speed and side velocity are measured by vehicle speed sensor and are obtained,
Automobile yaw velocity is measured by gyroscope and is obtained.During controlling collision avoidance, by EPS torque compensation module 3 according to speed,
Front-wheel additional rotation angle determines that torque compensation controls gain, and steering wheel mutation Torque Control is subjected to ideal range in driver 4
It is interior, realize the automobile emergency collision avoidance of man-machine harmony.
Path Dynamic Programming and real-Time Tracking Control module 1 in the present invention include three parts content: 1) automobile emergency is kept away
Hit the performance indicator design of control；2) hide the constrained designs of the automobile emergency collision avoidance control of moving obstacle；3) control law rolls
Dynamic time domain solves.
Below using certain car as platform, method of the invention is illustrated, the major parameter for testing car is as shown in table 1:
The major parameter of the test car of table 1
In 1) partial content, the performance indicator design of automobile emergency collision avoidance control includes following two parts: 1.1, with pre-
The terminal point coordinate of time domain interior prediction track and two norms of coordinate of ground point error are surveyed as tracking performance index, embodies automobile
Track following characteristic；1.2, using two norms of control amount change rate as the smooth index of braking in a turn, turning for actuator is embodied
To braking smoothness properties.
In 1.1 parts, tracking performance index is missed with the terminal point coordinate and coordinate of ground point of predicting time domain interior prediction track
Two norms of difference are evaluation criterion, and expression formula is as follows:
Wherein, HpTo predict time domain, (Xt+Hp,Yt+Hp) it is the terminal point coordinate for predicting time domain interior prediction track, by car model
Iteration obtains, automobile coordinate of ground point (X to be achieved when collision avoidanceg,Yg), i.e. one point of safes of barrier rear.
In 1.2 parts, the braking in a turn of the actuator during collision avoidance is described using two norms of control amount change rate
Smoothness properties, wherein control amount u is vehicle front corner δ and four wheel slip siI ∈ { 1,2,3,4 }, establishes discrete two
The secondary smooth index of type braking in a turn are as follows:
Wherein, HcTo control time domain, t indicates current time, and Δ u is control amount change rate, and w is the weight coefficient of Δ u.Tightly
Anxious collision avoidance controller design parameter is as shown in table 2, wherein TsFor the sampling period.
The urgent collision avoidance controller design parameter of table 2
| Controller parameter | Parameter value | Controller parameter | Parameter value |
| Hp | 4 | δmin | -6deg |
| w | 0.5 | δmax | 6deg |
| Ts | 0.5s | simin | 0 |
| Hc | 3 | simax | 0.25 |
In 2) partial content, the constrained designs for hiding the automobile emergency collision avoidance control of moving obstacle include two parts:
2.1, actuator physical constraint is set, actuator requirement is met；2.2, position constraint is set, guarantees that collision avoidance in the process will not be with barrier
Object is hindered to collide.
In 2.1 parts, using the bound of linear inequality limitation front wheel angle and four wheel slips, respectively
To steering, the physical constraint of brake actuator, mathematic(al) representation are as follows:
δmin< δk,t< δmaxK=t, t+1 ... t+Hc-1 (3)
simin< sik,t< simaxI ∈ { 1,2,3,4 } k=t, t+1 ... t+Hc-1 (4)
Wherein δminFor front wheel angle lower limit, δmaxFor the front wheel angle upper limit, siminFor four wheel slip lower limits, simax
For four wheel slip upper limits.
In 2.2 parts, as shown in Fig. 2, the location information of t moment barrier may be characterized as the set of N number of discrete point, this
A little information can be obtained by radar surveying, wherein the coordinate representation of j-th of discrete point is (Xj,t,Yj,t), the automobile mass center of t moment is sat
Labeled as (Xk,t,Yk,t), it can be calculated by car model, position constraint is set to
Wherein, a is distance of the automobile mass center to headstock；B is distance of the automobile mass center to the tailstock；C is the one of automobile vehicle width
Half；For the yaw angle for having taken t moment as k moment automobile in point prediction time domain,；Dx,j,tIt is j-th of discrete point of barrier in vapour
The fore-and-aft distance of automobile mass center is arrived in vehicle coordinate system；Dy,j,tAutomobile matter is arrived in vehicle axis system for j-th of discrete point of barrier
The lateral distance of the heart.
As shown in figure 3, barrier may occur suddenly in a manner of movement in vehicle traveling process；Consider barrier along Y
Direction motion conditions, it is assumed that barrier is in prediction time domain with constant speed movement.
Formula (5) characterizes the degree of closeness of automobile Yu the N number of discrete point of barrier,Value is bigger, illustrates automobile and barrier
The distance of corresponding discrete point is closer, also more dangerous.In order to guarantee algorithm real-time, t moment is definedIt is worth maximum barrier
Discrete point j is the dangerous point in current sample period, is denoted as (Xj,t,Yj,t), based on this dangerous point to obstacle in prediction time domain
Object movement is predicted that iterative relation indicates are as follows:
Wherein, (Xj,t-1,Yj,t-1) it is coordinate of the dangerous point at the t-1 moment；(Xj,k,Yj,k) it is to predict that the k moment endangers in time domain
The coordinate nearly put.
Barrier discrete point coordinate by way of iteration in more new formula (5), by barrier in prediction time domain
Change in location is integrated into the position constraint of Model Predictive Control Algorithm, the urgent collision avoidance problem under Optimization Solution moving obstacle.
In 3) partial content, control law rolling time horizon solve the following steps are included:
3.1, obstacle information and vehicle driving state information are obtained from radar and onboard sensor, and enters information into and keeps away
Hit controller；
3.2, single index is converted by tracking performance index and the smooth index of braking in a turn using weigthed sums approach, constructed
Urgent collision avoidance Multiobjective Optimal Control Problems, the problem will meet steering, the physical constraint of brake actuator and position about simultaneously
Beam, and guarantee that urgent anti-collision system input and output meet Vehicle dynamics characteristic:
It submits to
I) Vehicle dynamics
Ii) constraint condition is formula (3)~(9)
3.3, in urgent collision avoidance controller, SQP algorithm is called, solves Multiobjective Optimal Control Problems (10), obtains most
Excellent opened loop control u*Are as follows:
It submits to
I) Vehicle dynamics
Ii) constraint condition is formula (3)~(9)
3.4, current time optimal opened loop control u is utilized*(0) it is fed back, realizes closed-loop control；
As shown in figure 4, the Vehicle dynamics that the present invention is above-mentioned are as follows:
Fxi=fxicos(δi)-fyisin(δi),i∈{1,2,3,4} (15)
Fyi=fxisin(δi)+fyicos(δi),i∈{1,2,3,4} (16)
Wherein, Fxi、FyiRespectively four wheels along vehicle body coordinate direction longitudinal component and cross component force；fxi、fyiPoint
It is not four wheels along the component of wheel coordinate direction, wherein fxiFor the function of four wheel slips and analysis of wheel vertical load,
fyiFor the function of front wheel angle and analysis of wheel vertical load, specific value can be determined by magic formula；Respectively automobile longitudinal
Speed and longitudinal acceleration；Respectively automobile side angle speed and side acceleration；Respectively automobile sideway
Angle, yaw velocity and sideway angular acceleration；lf、lrRespectively distance of the automobile mass center to axle, lsFor wheelspan size
Half；JzFor the yaw rotation inertia of the vertical axis around automobile mass center；M is car mass；X, Y is respectively in earth coordinates
The transverse and longitudinal coordinate of Location of Mass Center of Automobiles；δiFor four wheel steering angles, automobile is front-wheel steer here, therefore δ3=δ4=0.
The parameter of above-mentioned magic formula show that expression is as follows by test fitting:
Wherein, V is current automobile longitudinal speed；αf、αrRespectively front-wheel side drift angle and rear-wheel side drift angle；Fz,f、Fz,rRespectively
For automobile axle load；siFor four wheel slips of automobile；Axi、Bxi、Cxi、Dxi、ExiAnd Ayi、Byi、Cyi、Dyi、EyiFor
Fitting parameter is tested, design parameter is as shown in following table:
3 magic formula parameter of table
| a0 | a1 | a2 | a3 | a4 | a5 | a6 | ||
| 1.75 | 0 | 1000 | 1289 | 7.11 | 0.0053 | 0.1925 | ||
| b0 | b1 | b2 | b3 | b4 | b5 | b6 | b7 | b8 |
| 1.57 | 35 | 1200 | 60 | 300 | 0.17 | 0 | 0 | 0.2 |
The design method of EPS torque compensation module 3 in the present invention are as follows: 30 drivers are chosen, according to gender, skilled journey
Degree is divided into following four classes: skilled male driver, skilled female driver, unskilled male driver, unskilled female driver.Driver
Real vehicle debugging is carried out respectively according to preparatory classification, and for debugging process as shown in figure 5, speed is set to 60km/h first, front-wheel is additional
Corner is set to 3deg, and laboratory technician debugs power according to the feedback information to steering wheel mutation torque acceptance level of driver repeatedly
Square compensation control gain, when driver's sensory papilla torque-variable is excessive, torque compensation is controlled gain reduction by laboratory technician, works as driving
When member's sensory papilla torque-variable is too small, laboratory technician then tunes up torque compensation control gain, final to guarantee that steering wheel is mutated torque energy
It is enough to be received by driver, and the torque compensation recorded at this time controls gain values；Secondly, speed is still set to 60km/h, front-wheel
Additional rotation angle range is that -6deg arrives 6deg, is divided into 2deg, and the left and right sides is symmetrical when due to motor turning, and front-wheel is additional
The steering wheel mutation torque that the left and right sides generates in the case of the identical amplitude of corner is identical, therefore need to only adjust additional turn of front-wheel
Angular region is that the torque compensation under 0deg to 6deg controls gain.Laboratory technician is mutated steering wheel according to driver when test
Torque compensation in acceptance level debugging 0deg to the 6deg range of torque under each corner intervention controls gain, keeps each front-wheel attached
Add the steering wheel under corner intervention to be mutated torque to be received by driver, and then determines under the intervention of speed 60km/h difference corner
Torque compensation control gain, and record torque compensation control gain specific value；Finally, being debugged out using identical method
Torque compensation under different speed difference corner interventions controls gain, and vehicle speed range is 10km/h to 100km/h, is divided between speed
20km/h finally determines three dimension tables that speed, front-wheel additional rotation angle, torque compensation control gain, and Fig. 6 is EPS of the present invention
Torque compensation controls gain three-dimensional MAP chart.Finally EPS torque compensation control gain three-dimensional MAP chart is implanted into EPS controller,
EPS controller control EPS assist motor reaches the control effect of torque compensation.
Claims (1)
1. a kind of automobile emergency collision avoidance integral type control method for hiding dynamic barrier, which is characterized in that this method is to utilize road
Diameter Dynamic Programming and real-Time Tracking Control module, according to the obstacle information, coordinate of ground point, vehicle driving state acquired in real time
Information, real-time optimization obtain the front wheel angle and four wheel slips of automobile, and then control automobile and realize collision avoidance；Wherein, hinder
Hindering object information includes the discrete point coordinate of the barrier appearance profile obtained by radar sensor measurement, vehicle driving state information
Including the automobile longitudinal speed and side velocity that are obtained by vehicle speed sensor measurement and the yaw angle obtained by gyroscope measurement
Speed；During controlling collision avoidance, by EPS torque compensation module according to speed, front-wheel additional rotation angle, torque compensation control is determined
Gain processed in the ideal range by steering wheel mutation Torque Control realizes the automobile emergency collision avoidance of man-machine harmony；
Method includes the following steps:
Step 1, the performance indicator design process of automobile emergency collision avoidance control include following sub-step:
Step 1.1 uses two norms of the terminal point coordinate and coordinate of ground point error of predicting time domain interior prediction track as tracing property
Energy index, embodies the track following characteristic of automobile, expression formula is as follows:
Wherein, HpTo predict time domain, (Xt+Hp,Yt+Hp) it is the terminal point coordinate for predicting time domain interior prediction track, by car model iteration
It obtains, automobile coordinate of ground point (X to be achieved when collision avoidanceg,Yg)；
The Vehicle dynamics are as follows:
Fxi=fxicos(δi)-fyisin(δi),i∈{1,2,3,4} (15)
Fyi=fxisin(δi)+fyicos(δi),i∈{1,2,3,4} (16)
Wherein, Fxi、FyiRespectively four wheels along vehicle body coordinate direction longitudinal component and cross component force；fxi、fyiRespectively
Four wheels are along the component of wheel coordinate direction, wherein fxiFor the function of four wheel slips and analysis of wheel vertical load, fyiFor
The function of front wheel angle and analysis of wheel vertical load, specific value can be determined by magic formula；Respectively automobile longitudinal speed
And longitudinal acceleration；Respectively automobile side angle speed and side acceleration；Respectively automobile yaw angle, cross
Pivot angle speed and sideway angular acceleration；lf、lrRespectively distance of the automobile mass center to axle, lsFor the half of wheelspan size；
JzFor the yaw rotation inertia of the vertical axis around automobile mass center；M is car mass；X, Y is respectively automobile in earth coordinates
The vertical and horizontal position of mass center；The vertical and horizontal speed of automobile respectively in earth coordinates；δiFor four vehicles
Corner is taken turns, automobile is front-wheel steer here, therefore δ3=δ4=0；
The parameter of the magic formula is shown that expression is as follows by experimental fit:
Wherein, V is current automobile longitudinal speed；αf、αrRespectively front-wheel side drift angle and rear-wheel side drift angle；Fz,f、Fz,rRespectively vapour
Vehicle axle load；siFor four wheel slips of automobile；Axi、Bxi、Cxi、Dxi、ExiAnd Ayi、Byi、Cyi、Dyi、EyiFor experiment
Fitting parameter, wherein a0=1.75；a1=0；a2=1000；a3=1289；a4=7.11；a5=0.0053；a6=0.1925；b0
=1.57；b1=35；b2=1200；b3=60；b4=300；b5=0.17；b6=0；b7=0；b8=0.2；
Step 1.2 uses two norms of control amount change rate as the smooth index of braking in a turn, embodies the actuator during collision avoidance
Braking in a turn smoothness properties, control amount u be four wheel slip s of vehicle front corner δ and automobileiI ∈ { 1,2,3,4 },
Establish the discrete smooth index of quadratic form braking in a turn are as follows:
Wherein, HcTo control time domain, t indicates current time, and Δ u is control amount change rate, and w is the weight coefficient of Δ u；
Step 2, the constrained designs process for considering the automobile emergency collision avoidance control of moving obstacle include following sub-step:
Step 2.1, setting actuator physical constraint, meet actuator requirement；
Using the bound of linear inequality limitation front wheel angle and four wheel slips, steering is respectively obtained, braking executes
The physical constraint of device, mathematic(al) representation are as follows:
δmin< δk,t< δmaxK=t, t+1 ... t+Hc-1 (3)
simin< sik,t< simaxI ∈ { 1,2,3,4 } k=t, t+1 ... t+Hc-1 (4)
Wherein, δminFor front wheel angle lower limit, δmaxFor the front wheel angle upper limit, siminFor four wheel slip lower limits, simaxIt is four
A wheel slip upper limit；
Step 2.2, setting position constraint, guarantee to collide with barrier during collision avoidance；
The location information of t moment barrier may be characterized as the set of N number of discrete point, these information can be obtained by radar sensor measurement
, wherein the coordinate representation of j-th of discrete point is (Xj,t,Yj,t), the automobile center-of-mass coordinate of t moment is denoted as (Xk,t,Yk,t), it can be by
Car model described in step 1.1 is calculated, and position constraint is set to
Wherein, a is distance of the automobile mass center to headstock；B is distance of the automobile mass center to the tailstock；C is the half of automobile vehicle width；For the yaw angle for having taken t moment as k moment automobile in point prediction time domain；Dx,j,tIt is j-th of discrete point of barrier in automobile
The fore-and-aft distance of automobile mass center, D are arrived in coordinate systemy,j,tAutomobile mass center is arrived in vehicle axis system for j-th of discrete point of barrier
Lateral distance；
It is assumed that for barrier along Y-direction with constant speed movement, it is N number of with barrier that formula (5) characterizes automobile in prediction time domain
The degree of closeness of discrete point, l value is bigger, illustrates that automobile is closer at a distance from the corresponding discrete point of barrier, also more dangerous；It is fixed
The adopted maximum barrier discrete point j of t moment l value is the dangerous point in current sample period, is denoted as (Xj,t,Yj,t), in prediction
Iterative relation, which indicates, to be predicted to barrier movement based on this dangerous point in domain are as follows:
Wherein, (Xj,t-1,Yj,t-1) it is coordinate of the dangerous point at the t-1 moment；(Xj,k,Yj,k) it is the moment dangerous point k in prediction time domain
Coordinate；
Barrier discrete point coordinate by way of iteration in more new formula (5), by the position of barrier in prediction time domain
Variation is integrated into the position constraint of Model Predictive Control Algorithm；
Step 3, building automobile emergency collision avoidance Multiobjective Optimal Control Problems, solve Multiobjective Optimal Control Problems, with dynamically about
Beam form formulates the not collision path of running car, realizes the automobile emergency collision avoidance control for considering moving obstacle comprising such as
Lower sub-step:
Step 3.1 obtains obstacle information by radar sensor, obtains running car shape by vehicle speed sensor and gyroscope
State information, and the obstacle information and vehicle driving state information input collision avoidance controller that will acquire；
It is step 3.2, using weigthed sums approach that braking in a turn described in tracking performance index described in step 1.1 and step 1.2 is smooth
Index is converted into single index, constructs automobile emergency collision avoidance Multiobjective Optimal Control Problems, which will meet steering, system simultaneously
The physical constraint and position constraint of dynamic actuator, and guarantee that urgent anti-collision system input and output meet automobile described in step 1.1
Kinetic model characteristic:
It submits to
I) Vehicle dynamics
Ii) constraint condition is formula (3)~(9)
Step 3.3, in urgent collision avoidance controller, call SQP algorithm, solve Multiobjective Optimal Control Problems (10), obtain most
Excellent opened loop control u*Are as follows:
It submits to
I) Vehicle dynamics
Ii) constraint condition is formula (3)~(9)
Step 3.4 utilizes current time optimal opened loop control u*(0) it is fed back, realizes closed-loop control, realize and hide movement
The automobile emergency collision avoidance of barrier controls；
Step 4, design are implanted with the EPS torque compensation module that steering wheel mutation torque hommization adjusts algorithm, EPS torque compensation mould
Root tuber determines that torque compensation controls gain according to speed, front-wheel additional rotation angle, by steering wheel mutation Torque Control in ideal range；
Design process includes following sub-step:
The design method of step 4.1, EPS torque compensation module are as follows: choose several drivers and carry out real vehicle debugging, pass through tune first
It orders speed for a trial, determine the torque compensation control gain under front-wheel additional rotation angle, laboratory technician carries out anti-according to the subjective feeling of driver
Polyphony examination guarantees that steering wheel mutation torque can be received by driver；
Step 4.2 changes front-wheel additional rotation angle, and laboratory technician, which debugs torque compensation control gain, makes different front-wheel additional rotation angle interventions
Under steering wheel mutation torque can be received by driver, and then determine the torque compensation under the speed control gain；
Step 4.3 determines that the torque compensation under different speeds, different front-wheel additional rotation angle interventions is controlled using identical method
Gain is completed the determination of speed, front-wheel additional rotation angle, torque compensation control gain three-dimensional MAP chart, is controlled and increased using torque compensation
Beneficial three dimension tables carry out torque compensation control, in the ideal range by steering wheel mutation Torque Control, realize that steering wheel is mutated power
The automobile emergency collision avoidance that square hommization is adjusted；
EPS torque compensation control gain three-dimensional MAP chart is implanted into EPS controller by step 4.4, and EPS controller control EPS is helped
Force motor reaches the control effect of torque compensation.
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