CN106314420A - Vehicle driving behavior improving system and improving method thereof - Google Patents

Vehicle driving behavior improving system and improving method thereof Download PDF

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Publication number
CN106314420A
CN106314420A CN201510365348.5A CN201510365348A CN106314420A CN 106314420 A CN106314420 A CN 106314420A CN 201510365348 A CN201510365348 A CN 201510365348A CN 106314420 A CN106314420 A CN 106314420A
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China
Prior art keywords
signal
pedal signal
brake pedal
steering wheel
accelerator pedal
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CN201510365348.5A
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CN106314420B (en
Inventor
冯文洁
任明
吴凯
刘剑
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SAIC General Motors Corp Ltd
Pan Asia Technical Automotive Center Co Ltd
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SAIC General Motors Corp Ltd
Pan Asia Technical Automotive Center Co Ltd
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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
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • 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
    • 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
    • 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
    • B60W40/02—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 ambient conditions
    • 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
    • B60W40/08—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 drivers or passengers
    • 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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/10—Accelerator pedal position
    • 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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/12—Brake pedal position
    • 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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/18—Steering angle
    • 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
    • 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
    • B60W2554/80—Spatial relation or speed relative to objects
    • 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
    • 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
    • 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

Abstract

The invention relates to a vehicle driving behavior improving system. The vehicle driving behavior improving system is provided with an environmental perception module, a knowledge base module, a driving behavior algorithm module and a vehicle control system. According to environment information and knowledge information from the environmental perception module, an original brake pedal signal, an original accelerator pedal signal and an original steering wheel angle signal are optimized by the driving behavior algorithm module, optimized signals are obtained and compared with the original signals, an actual brake pedal signal, an actual accelerator pedal signal and an actual steering wheel angle signal are obtained and input into a brake system, a transmission system and a steering system correspondingly. According to brake torque, driving torque and a steering angle which are obtained from the brake system, the transmission system and the steering system correspondingly, a vehicle is controlled by the vehicle control system.

Description

Vehicle drive behavior improves system and ameliorative way thereof
Technical field
The present invention relates to wagon control technology, relate more specifically to a kind of to reduce oil consumption unnecessary in vehicle travel process and discharge and the vehicle drive behavior that simultaneously helps driver to form good driving habits improves system and ameliorative way.
Background technology
Bad driving behavior can bring unnecessary oil consumption and discharge, even can cause certain potential safety hazard.As improving the measure of bad steering behavior, prior art generally uses and follows the tracks of vehicle oil consumption curve and learn whether there are bad steering behavior.
But, iff following the tracks of vehicle oil consumption curve, carry out voice message when these driving behaviors of operator, can there is following two problem:
(1) improvement of driving behavior has the biggest subjectivity, only only keeps track vehicle oil consumption curve, substantially can not reduce oil consumption unnecessary in driving conditions and discharge, and vehicle prompting can only be relied on to improve driving behavior.
(2) reasonability of driving behavior can not be differentiated, particularly as frequently stopped, anxious accelerates, suddenly step on the gas, frequent lane change and curve is driven a vehicle, after running at a low speed for a long time, bring to a halt and the reasonability of the driving habits such as busy shift, even rational driving behavior can be disturbed.
Typically, driving behavior is by brake pedal signal, accelerator pedal signal and steering wheel angle signal embody, by structure driving behavior system model, research driving behavior algorithm, driving behavior signal is optimized, signal after optimization and primary signal compare and draw actual signal, and actual driving behavior signal is fed back to vehicle control system, when operator bad steering behavior, driving behavior algoritic module can differentiate the reasonability of driving behavior, just can improve the driving behavior of driver in time, and point out to driver in real time, reduce unnecessary oil consumption and discharge in driving conditions, help driver to form good driving habits simultaneously.
Summary of the invention
In view of the above problems, it is desirable to provide a kind of oil consumption unnecessary in vehicle travel process and discharge can be reduced and the vehicle drive behavior that helps driver to form good driving habits improves system and ameliorative way simultaneously.
The present invention establishes a kind of vehicle drive behavior and improves system, by driving behavior algoritic module, it show that the driving behavior signal of optimization contrasts with primary signal, actual signal is drawn according to judgment principle, i.e. optimum driving behavior signal, can reduce unnecessary oil consumption and discharge in time according to optimum driving behavior signal.And by monitoring driving behavior, make driver understand the driving behavior of oneself and be improved.
The vehicle drive behavior of the present invention improves system, it is characterised in that possess:
Environment sensing module, gathers environmental information around；
Base module, stores the knowledge information about driving behavior and transport information；
Driving behavior algoritic module, obtain original brake pedal signal, original accelerator pedal signal and original steering wheel angle signal, and according to from the described environmental information of described environment sensing module and described knowledge information to described original brake pedal signal, described original accelerator pedal signal and described original steering wheel angle signal are optimized, obtain the brake pedal signal optimized, the accelerator pedal signal optimized and the steering wheel angle signal of optimization, brake pedal signal by described optimization, the accelerator pedal signal optimized and steering wheel angle signal and the described original brake pedal signal of optimization, original accelerator pedal signal and original steering wheel angle signal compare, draw the brake pedal signal of reality, actual accelerator pedal signal and the steering wheel angle signal of reality；
Brakes, produces braking moment for the brake pedal signal according to the described reality from described driving behavior algoritic module；
Drive system, produces driving torque for the accelerator pedal signal according to the described reality from described driving behavior algoritic module；
Steering, produces corner for the steering wheel angle signal according to the described reality from described driving behavior algoritic module；
Vehicle control system, controls vehicle according to obtaining braking moment, driving torque and corner respectively from described brakes, drive system, steering.
Preferably, described environment sensing module possesses:
Photographic head, for obtaining the obstacle information of vehicle periphery；
Trailer-mounted radar/GPS, is used for obtaining vehicle position information and spacing information.
Preferably, described base module is used for storing road information, traffic rules, driving behavior, driving locus, fuzzy rule as knowledge information.
Preferably, described driving behavior algoritic module possesses:
Preview follower device, according to the described environmental information from described environment sensing module, sets up vehicle axis system, tries to achieve the desired brake pedal signal of current vehicle position, desired accelerator pedal signal and desired hand-wheel signal；
Subtractor, as difference signal, ask for error and the error change rate variance of the hand-wheel signal of the error of the brake pedal signal of described desired brake pedal signal and described optimization and the error of the accelerator pedal signal of error rate, described desired accelerator pedal signal and described optimization and error change rate variance and described desired hand-wheel signal and described optimization respectively；And
Adaptive Fuzzy PID module, inputs described difference signal from described subtractor, uses the fuzzy reasoning method scale parameter K to PIDp, integral parameter Ki, differential parameter KdAdjust, the steering wheel angle signal of brake pedal signal, the accelerator pedal signal of optimization and optimization that output optimizes；
Computing module, the steering wheel angle signal of the brake pedal signal of described optimization, the accelerator pedal signal of optimization and optimization is compared with described original brake pedal signal, original accelerator pedal signal and original steering wheel angle signal respectively, draws the brake pedal signal of reality, actual accelerator pedal signal and the steering wheel angle signal of reality.
Preferably, described Adaptive Fuzzy PID module possesses:
Fuzzy controller, obtains the scale parameter K of PID from described subtractor input difference signal according to fuzzy reasoning methodp, integral parameter Ki, differential parameter Kd；
PID controller, according to from described subtractor input difference signal and the scale parameter K of PID that inputs from described fuzzy controllerp, integral parameter Ki, differential parameter KdCalculate the steering wheel angle signal of the brake pedal signal of described optimization, the accelerator pedal signal of optimization and optimization.
Preferably, described fuzzy controller possesses:
Obfuscation module, inputs difference signal from described subtractor and carries out Fuzzy processing；
Inference machine, makes inferences process according to the described knowledge information being stored in described base module and obtains the reasoning results the signal after Fuzzy processing；And
De-fuzzy module, carries out de-fuzzy and processes the scale parameter K obtaining PID described the reasoning resultsp, integral parameter Ki, differential parameter Kd。
Preferably, in described computing module, by described original brake pedal signal, original accelerator pedal signal and original steering wheel angle signal are set to S1, brake pedal signal by described optimization, in the case of the accelerator pedal signal optimized and the steering wheel angle signal of optimization are set to S2, by actual brake pedal signal, in the case of actual accelerator pedal signal and the steering wheel angle signal of reality are set to S3, if the absolute value of S1 and S2 is less than or equal in the case of setting, make S3=S1, if the absolute value of S1 and S2 is more than in the case of setting, make S3=S2.
Preferably, described vehicle control system controls the transverse movement of vehicle and lengthwise movement and the driving behavior optimized is reminded to driver according to obtaining braking moment, driving torque and corner respectively from described brakes, drive system, steering.
The vehicle drive behavior ameliorative way of the present invention, it is characterised in that comprise the steps:
Gather environmental information around and about driving behavior and the knowledge information of transport information；
Obtain original brake pedal signal, original accelerator pedal signal and the original steering wheel angle signal produced by brake pedal, gas pedal, steering wheel；
According to described environmental information and described knowledge information, described original brake pedal signal, described accelerator pedal signal and described steering wheel angle signal are optimized, it is thus achieved that the steering wheel angle signal of the brake pedal signal of optimization, the accelerator pedal signal of optimization and optimization；
The steering wheel angle signal of the brake pedal signal of described optimization, the accelerator pedal signal of optimization and optimization is compared with described original brake pedal signal, original accelerator pedal signal and original steering wheel angle signal respectively, draws the brake pedal signal of reality, actual accelerator pedal signal and the steering wheel angle signal of reality；
Brake pedal signal according to described reality produces braking moment, the accelerator pedal signal of described reality produces driving torque, the steering wheel angle signal of described reality produces corner；
Control the transverse movement of vehicle and lengthwise movement according to described braking moment, driving torque and corner and the driving behavior optimized is reminded to driver.
Vehicle according to the invention driving behavior improves system and the vehicle drive behavior ameliorative way of the present invention, by to brake pedal signal, accelerator pedal signal and steering wheel angle signal are optimized, find the optimal value obtaining optimal path as far as possible, reduce bad steering behavior, the most frequently stop, anxious acceleration, suddenly step on the gas, frequently lane change and curve driving, run at a low speed after for a long time, bring to a halt and the driving behavior such as busy shift, it is possible to significantly reduce unnecessary oil consumption and discharge, eliminate safe hidden trouble, vehicle is prompted to driver driving behavior, in order to improve the driving behavior of driver, driver is helped to form good driving habits.
Accompanying drawing explanation
Fig. 1 is to represent the structured flowchart that the vehicle drive behavior of the present invention improves system.
Fig. 2 is the structural map of the driving behavior algoritic module of the mark present invention.
Fig. 3 represents the vehicle axis system set up by driving behavior algoritic module 300.
Fig. 4 is the structured flowchart of the fuzzy controller 331 representing the present invention.
Detailed description of the invention
Be described below be the present invention multiple embodiments in some, it is desirable to provide the basic understanding to the present invention.It is not intended as confirming the crucial of the present invention or conclusive key element or limiting scope of the claimed.
Fig. 1 is to represent the structured flowchart that the vehicle drive behavior of the present invention improves system.
Possess as it is shown in figure 1, the vehicle drive behavior of the present invention improves system: environment sensing module 100, base module 200, driving behavior algoritic module 300, brakes 400, drive system 500, steering 600, vehicle control system 700.
It is specifically described below for these structural units.
As it is shown in figure 1, first, in the present invention, driving behavior is presented as: driver is by brake pedal, gas pedal and brake pedal signal A, the accelerator pedal signal B of steering wheel generation and steering wheel angle signal C.
Environment sensing module 100 is for gathering the environmental information of surrounding.Environment sensing module 100 such as include video frequency pick-up head, trailer-mounted radar and or GPS etc., for the information such as barrier, spacing and vehicle location of perception vehicle periphery.
Base module 200 stores the knowledge information about driving behavior and transport information.Such as, there are road information, driving behavior, traffic rules, driving locus and the fuzzy rule etc. of fuzzy algorithmic approach that hereafter will use as knowledge information storage.
Driving behavior algoritic module 300 inputs as it, it is thus achieved that original brake pedal signal A, original accelerator pedal signal B and original steering wheel angle signal C.Driving behavior algoritic module 300 according to the environmental information from environment sensing module 100 and the knowledge information from base module 200 to original brake pedal signal A, original accelerator pedal signal B and original steering wheel angle signal C calculates, optimize, obtain the brake pedal signal optimized, the accelerator pedal signal optimized and the steering wheel angle signal of optimization, then, brake pedal signal by described optimization, the accelerator pedal signal optimized and steering wheel angle signal and the original brake pedal signal A of optimization, original accelerator pedal signal B and original steering wheel angle signal C compares, draw the brake pedal signal A' of reality, actual accelerator pedal signal B' and the steering wheel angle signal C' of reality.
Brakes 400 produces braking moment for the brake pedal signal A' according to the described reality from described driving behavior algoritic module 300.Drive system 500 produces driving torque for the accelerator pedal signal B' according to the described reality from described driving behavior algoritic module 300.Steering 600 produces corner for the steering wheel angle signal C' according to the described reality from described driving behavior algoritic module 300.
Vehicle control system 700 obtains braking moment, driving torque and corner to control vehicle respectively from described brakes 400, drive system 500, steering 600, controls the transverse movement of vehicle and lengthwise movement according to braking moment, driving torque and the corner obtained and reminds the driving behavior of driver.
Then, the major function in above-mentioned module i.e. driving behavior algoritic module 300 is further illustrated.
Fig. 2 is the structural map of the driving behavior algoritic module representing the present invention.
As in figure 2 it is shown, the driving behavior algoritic module 300 of the present invention possesses: preview follower device 310, subtractor 320, Adaptive Fuzzy PID module 330 and computing module 340.
Preview follower device 310, according to the environmental information from described environment sensing module 100, sets up vehicle axis system, tries to achieve the desired brake pedal signal of current vehicle position, desired accelerator pedal signal and desired hand-wheel signal.
Preview follower device 310, according to the environmental information from described environment sensing module 100, sets up vehicle axis system, tries to achieve the desired brake pedal signal of current vehicle position, desired accelerator pedal signal and desired hand-wheel signal.
Fig. 3 represents the vehicle axis system that driving behavior algoritic module 300 is set up.
Preview follower device 310 is according to the information of the sensor acquisition such as the video frequency pick-up head in environment sensing module 100 and trailer-mounted radar/GPS, set up vehicle axis system, as shown in Figure 3, the absolute coordinate of vehicle centroid position is (X (t), Y (t)), relative coordinate is (x (t), y (t)), automobile steering angle is φ, and vehicle centroid side drift angle is β, and car speed is v, the absolute coordinate of vehicle pre-described point P is (X (t+T), Y (t+T))), relative coordinate is (x (t+T), y (t+T)).Preview follower device 310, according to preview follower, tries to achieve the desired brake pedal signal of current vehicle position, accelerator pedal signal and hand-wheel signal.
Then, utilize the driving of subtractor 320 vehicle to pass through change and the variable quantity of signal of signal, thus react the operability of vehicle.Specifically, as shown in Figure 2, according to the brake pedal signal desired by the current location that preview follower device 310 is tried to achieve, the brake pedal signal of accelerator pedal signal and hand-wheel signal and optimization, the accelerator pedal signal optimized, and the hand-wheel signal optimized, ask for the desired signal of vehicle respectively and optimize the error e of signal and the error rate de/dt input as Adaptive Fuzzy PID module 330, specifically, ask for error and the error rate of the brake pedal signal of described desired brake pedal signal and described optimization respectively, the error of the accelerator pedal signal of described desired accelerator pedal signal and described optimization and error change rate variance, and the error of described desired hand-wheel signal and the hand-wheel signal of described optimization and error change rate variance.
Adaptive Fuzzy PID module 330 inputs described difference signal from described subtractor, uses fuzzy reasoning method parameter K to PIDp、Ki、KdAdjust, with the different requirements of satisfied different e and de/dt, so that control target has good dynamic property.
As in figure 2 it is shown, Adaptive Fuzzy PID module 330 possesses: fuzzy controller 331, for inputting difference signal from subtractor 320 and obtaining the scale parameter K of PID according to fuzzy reasoning methodp, integral parameter Ki, differential parameter Kd；PID controller 332, for inputting difference signal and the scale parameter K of the PID from the input of described fuzzy controller 331 according to from described subtractor 320p, integral parameter Ki, differential parameter KdAnd calculate the steering wheel angle signal of the brake pedal signal of described optimization, the accelerator pedal signal of optimization and optimization.It addition, the work process about Adaptive Fuzzy PID module can also be partly with reference to patent application CN1393746A.
Fig. 4 is the structured flowchart of the fuzzy controller 331 representing the present invention.As shown in Figure 4, fuzzy controller 331 possesses: obfuscation module 335, for inputting difference signal from described subtractor 320 and carrying out Fuzzy processing；Inference machine 336, makes inferences process according to the described knowledge information (mainly fuzzy rule) being stored in base module 200 and obtains the reasoning results the signal after Fuzzy processing；And de-fuzzy module 337, the reasoning results is carried out de-fuzzy and processes parameter K obtaining PIDp、Ki、Kd。
Specifically, when | e | is bigger, take bigger KpLess Kd, so that system response is accelerated, to avoid excessive overshoot, then Kp=Kp1, Ki=0, Kd=0.When | e | is medium, take bigger KpLess Ki, so that system response is stability good, make K simultaneouslydValue is suitably to avoid oscillating around in equilibrium point, during and | de |=big, then and Kp=Kp2, Ki=0, Kd=Kd2；During | de |=middle, then Kp=Kp3, Ki=0, Kd=Kd3；| de |=hour, then Kp=Kp4, Ki=0, Kd=Kd4.When | e | is less, take bigger KpLess Ki, so that system response is stability good, make K simultaneouslydValue suitably to avoid oscillating around in equilibrium point, then Kp=Kp5, Ki=Ki5, Kd=Kd5。Kp1-Kp5, Ki1-Ki5, Kd1-Kd5For the numerical value that pid parameter setting method obtains routinely, wherein, Kp、Ki、KdRepresent scale parameter, integral parameter, differential parameter respectively, which kind situation that 1-5 represents.E and de/dt is as the input of Adaptive Fuzzy PID module 330, according to the fuzzy inference rule in base module 300, obtaining the reasoning results in inference machine 336, the de-fuzzy through de-fuzzy module 337 processes, and tries to achieve and meets the setting parameter K that different e and de requiresp, Ki ,Kd, thus obtain brake pedal signal, accelerator pedal signal and the hand-wheel signal optimized.
Then, as shown in Figure 2, the steering wheel angle signal of the brake pedal signal of described optimization, the accelerator pedal signal of optimization and optimization is compared by computing module 340 respectively with described original brake pedal signal, original accelerator pedal signal and original steering wheel angle signal, draws the brake pedal signal of reality, actual accelerator pedal signal and the steering wheel angle signal of reality.As an embodiment, such as, if S1 is primary signal, S2 is for optimizing signal, and S3 is actual signal, as | S1-S2 |≤ε, and S3=S1；As | S1-S2 | > ε time, S3=S2.
So, by brake pedal signal, accelerator pedal signal and steering wheel angle signal are optimized, find the optimal value obtaining optimal path as far as possible, reduce bad steering behavior, the most frequently stop, anxious accelerate, suddenly step on the gas, frequent lane change and curve is driven a vehicle, after running at a low speed for a long time, bring to a halt and the driving behavior such as busy shift, so can significantly reduce unnecessary oil consumption and discharge, eliminate safe hidden trouble, vehicle is prompted to driver driving behavior, in order to improve the driving behavior of driver, driver is helped to form good driving habits.
Vehicle drive behavior improvement system for the present invention is illustrated above.Following is a brief introduction of the vehicle drive behavior ameliorative way of the present invention.The vehicle drive behavior ameliorative way of the present invention comprises the steps:
Step 100: gather environmental information around and about driving behavior and the knowledge information of transport information；
Step 200: obtain original brake pedal signal, original accelerator pedal signal and the original steering wheel angle signal produced by brake pedal, gas pedal, steering wheel；
Step 300: according to described environmental information and described knowledge information, described original brake pedal signal, described accelerator pedal signal and described steering wheel angle signal are optimized, it is thus achieved that the steering wheel angle signal of the brake pedal signal of optimization, the accelerator pedal signal of optimization and optimization；
Step 400: compared with described original brake pedal signal, original accelerator pedal signal and original steering wheel angle signal respectively by the steering wheel angle signal of the brake pedal signal of described optimization, the accelerator pedal signal of optimization and optimization, draws the brake pedal signal of reality, actual accelerator pedal signal and the steering wheel angle signal of reality；
Step 500: produce braking moment according to the brake pedal signal of described reality, the accelerator pedal signal of described reality produces driving torque, the steering wheel angle signal of described reality produces corner；
Step 600: control the transverse movement of vehicle and lengthwise movement according to described braking moment, driving torque and corner and the driving behavior optimized is reminded to driver.
Example above primarily illustrates the vehicle drive behavior of the driving habits of the present invention and improves system and ameliorative way.Although being only described the detailed description of the invention of the some of them present invention, but those of ordinary skill in the art are it is to be appreciated that the present invention can be implementing with other forms many with in scope without departing from its spirit.Therefore, the example shown and embodiment are considered illustrative and not restrictive, and in the case of without departing from spirit and scope of the present invention as defined in appended claims, the present invention may contain various amendments and replacement.

Claims (9)

1. a vehicle drive behavior improves system, it is characterised in that possess:
Environment sensing module, gathers environmental information around；
Base module, stores about driving behavior, transport information, the knowledge information of fuzzy rule；
Driving behavior algoritic module, obtain original brake pedal signal, original accelerator pedal signal and original steering wheel angle signal, and according to from the described environmental information of described environment sensing module and described knowledge information to described original brake pedal signal, described original accelerator pedal signal and described original steering wheel angle signal are optimized, obtain the brake pedal signal optimized, the accelerator pedal signal optimized and the steering wheel angle signal of optimization, brake pedal signal by described optimization, the accelerator pedal signal optimized and steering wheel angle signal and the described original brake pedal signal of optimization, original accelerator pedal signal and original steering wheel angle signal compare, draw the brake pedal signal of reality, actual accelerator pedal signal and the steering wheel angle signal of reality；
Brakes, produces braking moment for the brake pedal signal according to the described reality from described driving behavior algoritic module；
Drive system, produces driving torque for the accelerator pedal signal according to the described reality from described driving behavior algoritic module；
Steering, produces corner for the steering wheel angle signal according to the described reality from described driving behavior algoritic module；
Vehicle control system, controls vehicle according to obtaining braking moment, driving torque and corner respectively from described brakes, drive system, steering.
2. vehicle drive behavior as claimed in claim 1 improves system, It is characterized in that,
Described environment sensing module possesses:
Photographic head, for obtaining the obstacle information of vehicle periphery；
Trailer-mounted radar/GPS, is used for obtaining vehicle position information and spacing information.
3. vehicle drive behavior as claimed in claim 2 improves system, It is characterized in that,
Described base module has road information, traffic rules, driving behavior, driving locus, fuzzy rule as knowledge information storage.
4. vehicle drive behavior as claimed in claim 3 improves system, It is characterized in that,
Described driving behavior algoritic module (300) possesses:
Preview follower device (310), according to the described environmental information from described environment sensing module, sets up vehicle axis system, tries to achieve the desired brake pedal signal of current vehicle position, desired accelerator pedal signal and desired hand-wheel signal；
Subtractor (320), as difference signal, ask for error and the error change rate variance of the hand-wheel signal of the error of the brake pedal signal of described desired brake pedal signal and described optimization and the error of the accelerator pedal signal of error rate, described desired accelerator pedal signal and described optimization and error change rate variance and described desired hand-wheel signal and described optimization respectively；And
Adaptive Fuzzy PID module (330), inputs described difference signal from described subtractor, uses the fuzzy reasoning method scale parameter K to PIDp, integral parameter Ki, differential parameter KdAdjust, the steering wheel angle signal of brake pedal signal, the accelerator pedal signal of optimization and optimization that output optimizes；
Computing module (340), the steering wheel angle signal of the brake pedal signal of described optimization, the accelerator pedal signal of optimization and optimization is compared with described original brake pedal signal, original accelerator pedal signal and original steering wheel angle signal respectively, draws the brake pedal signal of reality, actual accelerator pedal signal and the steering wheel angle signal of reality.
5. vehicle drive behavior as claimed in claim 4 improves system, It is characterized in that,
Described Adaptive Fuzzy PID module (330) possesses:
Fuzzy controller (331), obtains parameter K of PID from described subtractor input difference signal according to fuzzy reasoning methodp、Ki、Kd；
PID controller (332), according to from described subtractor input difference signal and the scale parameter K of PID that inputs from described fuzzy controllerp, integral parameter Ki, differential parameter KdCalculate the steering wheel angle signal of the brake pedal signal of described optimization, the accelerator pedal signal of optimization and optimization.
6. vehicle drive behavior as claimed in claim 5 improves system, It is characterized in that,
Described fuzzy controller possesses:
Obfuscation module, inputs difference signal from described subtractor and carries out Fuzzy processing；
Inference machine, makes inferences process according to the described knowledge information being stored in described base module and obtains the reasoning results the signal after Fuzzy processing；And
De-fuzzy module, carries out de-fuzzy and processes the scale parameter K obtaining PID described the reasoning resultsp, integral parameter Ki, differential parameter Kd。
7. vehicle drive behavior as claimed in claim 6 improves system, It is characterized in that,
In described computing module, by described original brake pedal signal, original accelerator pedal signal and original steering wheel angle signal are set to S1, brake pedal signal by described optimization, in the case of the accelerator pedal signal optimized and the steering wheel angle signal of optimization are set to S2, by actual brake pedal signal, in the case of actual accelerator pedal signal and the steering wheel angle signal of reality are set to S3, if the absolute value of S1 and S2 is less than or equal in the case of setting, make S3=S1, if the absolute value of S1 and S2 is more than in the case of setting, make S3=S2.
8. vehicle drive behavior as claimed in claim 7 improves system, It is characterized in that,
Described vehicle control system controls the transverse movement of vehicle and lengthwise movement and the driving behavior optimized is reminded to driver according to obtaining braking moment, driving torque and corner respectively from described brakes, drive system, steering.
9. a vehicle drive behavior ameliorative way, it is characterised in that comprise the steps:
Gather environmental information around and about driving behavior and the knowledge information of transport information；
Obtain original brake pedal signal, original accelerator pedal signal and the original steering wheel angle signal produced by brake pedal, gas pedal, steering wheel；
According to described environmental information and described knowledge information, described original brake pedal signal, described accelerator pedal signal and described steering wheel angle signal are optimized, it is thus achieved that the steering wheel angle signal of the brake pedal signal of optimization, the accelerator pedal signal of optimization and optimization；
The steering wheel angle signal of the brake pedal signal of described optimization, the accelerator pedal signal of optimization and optimization is compared with described original brake pedal signal, original accelerator pedal signal and original steering wheel angle signal respectively, draws the brake pedal signal of reality, actual accelerator pedal signal and the steering wheel angle signal of reality；
Brake pedal signal according to described reality produces braking moment, the accelerator pedal signal of described reality produces driving torque, the steering wheel angle signal of described reality produces corner；
Control the transverse movement of vehicle and lengthwise movement according to described braking moment, driving torque and corner and the driving behavior optimized is reminded to driver.
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