CN107856733B - A kind of automobile towards man-machine harmony hides dynamic barrier control method - Google Patents
A kind of automobile towards man-machine harmony hides dynamic barrier control method Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
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Abstract
The present invention relates to a kind of automobiles towards man-machine harmony to hide dynamic barrier control method, it is characterized in that, this method is: passage path Dynamic Programming module is according to the obstacle information acquired in real time, coordinate of ground point, vehicle driving state information, real-time optimization obtains the lateral displacement reference value of desired trajectory, yaw angle reference value, yaw velocity reference value, longitudinal velocity reference value, it is input to path following control module, passage path tracing control module acquires current vehicle driving state information simultaneously, real-time optimization obtains front wheel angle and four wheel slips, it controls automobile and realizes collision avoidance；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 automobile assistant driving technical fields, and in particular to a kind of automobile towards man-machine harmony hides dynamic barrier
Hinder object 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.
Planning in real time and tracking a collisionless optimal path is the key that automobile emergency collision avoidance control.Automotive correlation prevention control
It needs automobile under the premise of obtaining vehicle condition information and road information, constantly plans desired path, and assist simultaneously
Driver completes to turn to and brake Optimum Operation, realizes the safe collision avoidance of automobile.Therefore, it is necessary to the rows of real-time optimization automobile
Sail track and corresponding control input.In recent years, with the Model Predictive Control (Model optimized based on real-time mathematical
Predictive Control, MPC) theoretical breakthrough, from chemical industry etc., process industry is rapidly spread to aviation boat to MPC at a slow speed
It, the fast acting control systems such as robot, automobile.But under urgent collision avoidance, due to the complexity of model, so automobile is difficult
Guarantee to meet requirement of real-time under the premise of accurate control, this is also always the principal element of limitation MPC application.
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,et al.Collision avoidance with automatic
Braking and swerving [J] .IFAC Proceedings Volumes, 2014,47 (3): 10694-10699.] consider
Barrier longitudinal movement situation, detects the speed difference of automobile and moving obstacle, and whether decision goes out the steering opportunity of collision avoidance, i.e., may be used
To carry out steering collision avoidance, but the dynamic change of dyskinesia object location is not accounted for during collision avoidance, and do not account for hindering
Hinder object lateral movement situation.The Chinese patent of Publication No. CN105539586A discloses a kind of automobile for autonomous driving and hides
The unified motion planning method of moving obstacle is kept away, this method considers longitudinal direction and the lateral movement situation of barrier, but only uses
Come steering opportunity and collision avoidance path that decision goes out collision avoidance, also without the dynamic for considering dyskinesia object location during collision avoidance
Variation.
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 of Unnatural Reaction Torque in Variable-
Gear-Ratio[J].Journal of Dynamic Systems Measurement&Control,2012,134(2):
021019.] and [Atsushi Oshima, Xu Chen, 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 mentioned while change system is displaced transmission characteristic, it also will affect the force transfering characteristic of steering system, draw
Play the mutation of hand-wheel torque.Excessive steering wheel mutation torque can aggravate the nervous psychology of driver, be easy to produce driver
Raw maloperation, is unfavorable for driving safety.Steering wheel mutation torque appropriate is but conducive to the attitudes vibration that driver perceives automobile,
And it 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
It is uncontrollable, the technical issues of being easy to cause driver's maloperation, the present invention provide a kind of automobile towards man-machine harmony hide it is dynamic
Barrier control method can assist driver to complete collision avoidance, save the life of driver and passenger at the critical moment.
The technical solution adopted for solving the technical problem of the present invention is as follows:
A kind of automobile towards man-machine harmony hides dynamic barrier control method, which is characterized in that this method is: passing through road
Diameter Dynamic Programming module is obtained according to the obstacle information, coordinate of ground point, vehicle driving state information acquired in real time, real-time optimization
Lateral displacement reference value, yaw angle reference value, yaw velocity reference value, the longitudinal velocity reference value of desired trajectory out, input
To path following control module, while passage path tracing control module acquires current vehicle driving state information, real-time optimization
Show that front wheel angle and four wheel slips, control automobile realize collision avoidance；During controlling collision avoidance, pass through electric boosted turn
, according to speed, front-wheel additional rotation angle, torque compensation is determined to (Electric Power Steering, EPS) torque compensation module
Gain is controlled, in the ideal range by steering wheel mutation Torque Control, realizes the automobile emergency collision avoidance of man-machine harmony；This method packet
Include following steps:
Step 1, path Dynamic Programming module are according to the obstacle information, coordinate of ground point, running car shape acquired in real time
State information, real-time optimization obtain the lateral displacement reference value of desired trajectory, yaw angle reference value, yaw velocity reference value, indulge
To speed reference comprising following sub-step:
Step 1.1, the performance indicator design process of path Dynamic Programming include following sub-step:
Step 1.1.1, made using the terminal point coordinate of prediction time domain interior prediction track and two norms of coordinate of ground point error
For tracking performance index, the track following characteristic of automobile is embodied, expression formula is as follows:
Wherein, HP, hFor the prediction time domain of path Dynamic Programming module, (XT+Hp, h,YT+Hp, h) it is prediction time domain interior prediction rail
The terminal point coordinate of mark is obtained by Mass Model iteration, automobile coordinate of ground point (X to be achieved when collision avoidanceg,Yg)；
The Mass Model are as follows:
Wherein,ayFor automobile side angle acceleration；For automobile longitudinal acceleration；Respectively yaw angle and sideway
Angular speed；The longitudinal velocity and side velocity of automobile mass center respectively in earth coordinates；V is the longitudinal direction of current automobile
Speed；
Step 1.1.2, using two norms of side acceleration as the automotive safety index during collision avoidance, automobile is embodied
Collision avoidance stability establishes discrete quadratic form automotive safety index are as follows:
Wherein, HC, hFor the control time domain of path Dynamic Programming module, t indicates current time, ayFor the lateral of Mass Model
Acceleration, w1For ayWeight coefficient；
Step 1.2, the constrained designs process of path Dynamic Programming include following sub-step:
Step 1.2.1, setting stability of automobile constrains, and ensures automobile avoidance safety；
It obtains stability of automobile using the bound of linear inequality limit lateral acceleration to constrain, mathematic(al) representation
Are as follows:
|ayk,t| < μ g k=t, t+1t+Hc,h-1 (3)
Wherein, μ is coefficient of road adhesion, and g is acceleration of gravity；
Step 1.2.2, position constraint is set, guarantees 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 by Vehicle dynamics, 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, l value is bigger, illustrates that automobile is closer at a distance from the corresponding discrete point of barrier, also more endangers
Danger；Defining the 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), 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 1.3, build path Dynamic Programming Multiobjective Optimal Control Problems solve Multiobjective Optimal Control Problems, into
And find out yaw velocity reference value, yaw angle reference value, lateral displacement reference value and longitudinal velocity reference value comprising as follows
Sub-step:
Step 1.3.1, obstacle information is obtained by radar sensor, automobile is obtained by vehicle speed sensor and gyroscope
Running condition information, and the obstacle information and vehicle driving state information input path Dynamic Programming module that will acquire；
Step 1.3.2, single index, structure are converted by tracking performance index and automotive safety index using weigthed sums approach
Road construction diameter Dynamic Programming Multiobjective Optimal Control Problems, the problem will meet stability of automobile constraint and position constraint simultaneously, and
Guarantee that Dynamic Programming input and output in path meet Mass Model:
It submits to
I) Mass Model
Ii) constraint condition is formula (3)~(7)
Step 1.3.3, in path Dynamic Programming controller, genetic algorithm is called, solves Multiobjective Optimal Control Problems
(9), optimal opened loop control a is obtainedy *Are as follows:
It submits to
I) Mass Model
Ii) constraint condition is formula (3)~(7)
Step 1.3.4, current time optimal opened loop control a is utilizedy *(0), yaw velocity reference value is found outSideway
Angle reference valueLateral displacement reference value Yref, longitudinal velocity reference valueExpression is as follows:
Wherein, V is the longitudinal velocity of current automobile,For the reference value of automobile side angle speed,It is laterally fast for path
The reference value of degree；
Step 2, path following control module receive the lateral displacement of the desired trajectory transmitted by path Dynamic Programming module
Reference value, yaw angle reference value, yaw velocity reference value, longitudinal velocity reference value, while path following control module acquires
Current vehicle driving state information, real-time optimization show that the front wheel angle and four wheel slips of automobile, control automobile are real
Existing collision avoidance comprising following sub-step:
Step 2.1, the performance indicator design process of path following control include following sub-step:
Step 2.1.1, the lateral displacement reference value Y exported using path Dynamic Programming moduleref, yaw angle reference valueYaw velocity reference valueLongitudinal velocity reference valueWith two models of the error of practical vehicle driving state information
Number is used as tracking performance indicator, embodies the track following characteristic of automobile, expression formula is as follows:
Wherein, ηk,tFor vehicle driving state information, obtained by Vehicle dynamics iteration,
ηrefk,tFor the reference value that path Dynamic Programming module provides,HP, lFor path trace control
The prediction time domain of molding block, w2For weight coefficient；
The Vehicle dynamics:
Fxi=fxicos(δi)-fyisin(δi), i∈{1,2,3,4} (31)
Fyi=fxisin(δi)+fyicos(δi), i∈{1,2,3,4} (32)
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 around the yaw rotation inertia of the vertical axis of automobile mass center；M is car mass；X, Y is respectively vapour in earth coordinates
The transverse and longitudinal coordinate of vehicle centroid position；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 the longitudinal velocity of current automobile；αf、αrRespectively front-wheel side drift angle and rear-wheel side drift angle；Fz,f、Fz,rPoint
It Wei not automobile axle load；siFor four wheel slips of automobile；Axi、Bxi、Cxi、Dxi、ExiAnd Ayi、Byi、Cyi、Dyi、Eyi
To test fitting parameter, design parameter is as shown in following table:
4 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 2.1.2, flat using two norms of control amount change rate as the braking in a turn of the actuator during collision avoidance
Sliding index, embodies braking in a turn smoothness properties；Control amount u is four wheel slip s of vehicle front corner δ and automobileii∈
{ 1,2,3,4 } establishes the discrete smooth index of quadratic form braking in a turn are as follows:
Wherein, HC, lTo control time domain, t indicates current time, and Δ u is control amount change rate；
Step 2.2, the constrained designs of path following control are that setting stability of automobile constrains, and ensure automobile avoidance safety；
Using the bound of linear inequality limitation front wheel angle and four wheel slips, turned to, the physics of brake actuator
Constraint, mathematic(al) representation are as follows:
δmin< δk,t< δmaxK=t, t+1t+Hc,l-1 (24)
simin< sik,t< simaxI ∈ { 1,2,3,4 } k=t, t+1 ... t+Hc,l-1 (25)
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 2.3, build path tracing control Multiobjective Optimal Control Problems solve Multiobjective Optimal Control Problems, obtain
The vehicle front corner of real-time optimization and four wheel slips out realize the automobile emergency collision avoidance control for considering moving obstacle
System comprising following sub-step:
Step 2.3.1, path following control module obtains the lateral displacement of desired trajectory from path Dynamic Programming module
Reference value, yaw angle reference value, yaw velocity reference value and longitudinal velocity reference value；
Step 2.3.2, single finger is converted by tracking performance indicator and the smooth index of braking in a turn using weigthed sums approach
Mark, build path tracing control Multiobjective Optimal Control Problems, the problem to meet simultaneously steering, brake actuator physics about
Beam, and guarantee that path following control input and output meet Vehicle dynamics:
It submits to
I) Vehicle dynamics
Ii) constraint condition is formula (24)~(25)
Step 2.3.3, in path following control device, SQP algorithm is called, is solved Multiobjective Optimal Control Problems (26),
Obtain optimal opened loop control u*Are as follows:
It submits to
I) Vehicle dynamics
Ii) constraint condition is formula (24)~(25)
Step 2.3.4, current time optimal opened loop control u is utilized*(0) it is fed back, realizes that closed-loop control realizes and examine
Consider the automobile emergency collision avoidance control of moving obstacle.
Step 3, 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 3.1, 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 3.2 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 3.3 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 3.4
EPS assist motor reaches the control effect of torque compensation.
The beneficial effects of the present invention are: by hierarchy optimization problem of the building based on Model Predictive Control, upper layer uses matter
Point model carries out path planning, and lower layer carries out path trace using high-precision Vehicle dynamics, solves urgent collision avoidance
When path Dynamic Programming and real-time tracking problem, and the case where consider dynamic barrier simultaneously, realize the optimal collision avoidance of safety.It should
Method breaks the barriers the mode of changes in coordinates, converts the dynamic of collision avoidance control Optimization Solution about for barrier motion conditions
Beam solves the problems, such as the moving obstacle in avoidance obstacle.Steering wheel is mutated by this method by EPS torque compensation controller
Torque Control in the acceptable range of driver, this method using subjective evaluation and test mode to EPS torque compensation control gain into
Row is debugged repeatedly, realizes hommization mutation torque adjusting.
Detailed description of the invention
Fig. 1 is the schematic illustration that a kind of automobile towards man-machine harmony of the present invention hides dynamic barrier control method.
Fig. 2 is the relation schematic diagram of automobile and Obstacle Position.
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 schematic diagram 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, it includes following step that a kind of automobile towards man-machine harmony of the present invention, which hides dynamic barrier control method,
Rapid: path Dynamic Programming module 1 is according to the obstacle information, coordinate of ground point, vehicle driving state information acquired in real time, in real time
Optimization obtains the lateral displacement reference value, yaw angle reference value, yaw velocity reference value, longitudinal velocity reference of desired trajectory
Value, is input to path following control module 2, while path following control module 2 acquires current vehicle driving state information, real
Shi Youhua show that the front wheel angle and four wheel slips of automobile 3, control automobile 3 assist driver 5 to realize collision avoidance；It is controlling
During collision avoidance, EPS torque compensation module 4 determines that torque compensation controls gain, will turn to according to speed, front-wheel additional rotation angle
Disk is mutated Torque Control in the ideal range, realizes the automobile emergency collision avoidance of man-machine harmony.Wherein, obstacle information includes obstacle
The discrete point coordinate of object appearance profile is measured by radar sensor and is obtained；Vehicle driving state information include 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
It is measured and is obtained by gyroscope.
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 experiment car of table 1
Path Dynamic Programming module 1 realizes following three parts function: 1.1, the performance indicator design of path Dynamic Programming；
1.2, the constrained designs of path Dynamic Programming；1.3, path Dynamic Programming control law rolling time horizon solves.
In 1.1 parts, the performance indicator design of path Dynamic Programming includes following two parts content: 1.1.1, utilizing prediction
The terminal point coordinate of time domain interior prediction track and two norms of coordinate of ground point error embody the rail of automobile as tracking performance index
Mark tracking characteristics；1.1.2, using two norms of side acceleration as automotive safety index, automotive correlation prevention stability is embodied；
In the part 1.1.1, 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, HP, hFor the prediction time domain of path Dynamic Programming module 1, (XT+Hp, h,YT+Hp, h) it is prediction time domain interior prediction rail
The terminal point coordinate of mark is obtained by Vehicle dynamics iteration, automobile coordinate of ground point (X to be achieved when collision avoidanceg,Yg), that is, hinder
Hinder a point of safes at object rear.
In the part 1.1.2, the automotive correlation prevention stability during collision avoidance is described using two norms of side acceleration, is established
Discrete quadratic form automotive safety index are as follows:
Wherein, HC, hFor the control time domain of path Dynamic Programming module 1, t indicates current time, ayFor the side of Mass Model
To acceleration, w1For ayWeight coefficient, Dynamic Programming 1 design parameter of module in path is as shown in table 2, wherein Ts1For path dynamic
The sampling period of planning module 1.
The urgent collision avoidance controller design parameter of table 2
| Controller parameter | Parameter value | Controller parameter | Parameter value |
| HP, h | 5 | HC, h | 2 |
| w1 | 0.5 | Ts1 | 0.01s |
Constrained designs in 1.2 parts, path Dynamic Programming include two parts: 1.2.1 is arranged stability of automobile and constrains, and protects
Hinder automobile avoidance safety；1.2.2, position constraint is set, guarantees to collide with barrier during collision avoidance.
In the part 1.2.1, stability of automobile is obtained using the bound of linear inequality limit lateral acceleration and is constrained,
Mathematic(al) representation are as follows:
|ayk,t| < μ g k=t, t+1t+Hc,h-1 (3)
Wherein, μ is coefficient of road adhesion, is obtained by estimator, and g is acceleration of gravity.
In the part 1.2.2, 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 measured by radar sensor and be obtained, wherein the coordinate representation of j-th of discrete point is (Xj,t,Yj,t), the automobile of t moment
Center-of-mass coordinate is denoted as (Xk,t,Yk,t), it can be calculated by Vehicle dynamics, 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.
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, and l 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, the maximum barrier of t moment l value is defined
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 1.3 parts, path Dynamic Programming control law rolling time horizon solve the following steps are included:
1.3.1, obstacle information is obtained by radar sensor, running car is obtained by vehicle speed sensor and gyroscope
Status information, and the obstacle information and vehicle driving state information input path Dynamic Programming module 1 that will acquire；
1.3.2, single index is converted by tracking performance index and automotive safety index using weigthed sums approach, constructs road
Diameter Dynamic Programming Multiobjective Optimal Control Problems, which will meet stability of automobile constraint and position constraint simultaneously, and guarantee
Path Dynamic Programming input and output meet Mass Model:
It submits to
I) Mass Model
Ii) constraint condition is formula (3)~(7)
1.3.3, in path Dynamic Programming controller, genetic algorithm is called, is solved Multiobjective Optimal Control Problems (9),
Obtain optimal opened loop control ay *Are as follows:
It obeys
I) Mass Model
Ii) constraint condition is formula (3)~(7)
1.3.4, current time optimal opened loop control a is utilizedy *(0), yaw velocity reference value is found outYaw angle ginseng
Examine valueLateral displacement reference value Yref, longitudinal velocity reference valueExpression is as follows:
Wherein, V is the longitudinal velocity of current automobile,For the reference value of automobile side angle speed,It is laterally fast for path
The reference value of degree.
The Mass Model are as follows:
Wherein,ayFor automobile side angle acceleration；For automobile longitudinal acceleration；Respectively yaw angle and sideway
Angular speed；The longitudinal velocity and side velocity of automobile mass center respectively in earth coordinates.
Path following control module 2 realizes following three parts function: 2.1, the performance indicator design of path following control；
2.2, the constrained designs of path following control；2.3, path following control control law rolling time horizon solves.
In 2.1 parts, the performance indicator design of path following control includes following two parts content: 2.1.1, utilizing path
The lateral displacement reference value Y that Dynamic Programming module 1 exportsref, yaw angle reference valueYaw velocity reference valueIt is vertical
To speed referenceTwo norms with the error of practical vehicle driving state information embody automobile as tracking performance indicator
Track following characteristic；2.1.2, using two norms of control amount change rate as the smooth index of braking in a turn, the system of steering is embodied
Dynamic smoothness properties.
In the part 2.1.1, reference value and practical running car that tracking performance indicator is exported with path Dynamic Programming module 1
Two norms of the error of status information are evaluation criterion, and expression formula is as follows:
Wherein, ηK, tFor vehicle driving state information,ηRefk, tIt is mentioned for path Dynamic Programming module 1
The reference value of confession,HP, lFor the prediction time domain of path following control module 2, w2For weight
Coefficient.
In the part 2.1.2, 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, Hc,lTo control time domain, t indicates current time, and Δ u is control amount change rate, path following control module 2
Design parameter is as shown in table 3, wherein Ts2For the sampling period of path following control module 2.
The urgent collision avoidance controller design parameter of table 3
| Controller parameter | Parameter value | Controller parameter | Parameter value |
| Hp,l | 4 | δmin | -6deg |
| w2 | 0.5 | δmax | 6deg |
| Ts2 | 0.01s | simin | 0 |
| Hc,l | 3 | simax | 0.25 |
In 2.2 parts, the constrained designs of path Dynamic Programming are that setting stability of automobile constrains, and ensure automobile avoidance peace
Entirely；Using the bound of linear inequality limitation front wheel angle and four wheel slips, turned to, the object of brake actuator
Reason constraint, mathematic(al) representation are as follows:
δmin< δk,t< δmaxK=t, t+1t+Hc,l-1 (24)
simin< sik,t< simaxI ∈ { 1,2,3,4 } k=t, t+1t+Hc,l-1 (25)
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 2.3 parts, path following control control law rolling time horizon solve the following steps are included:
2.3.1, reference value is obtained from path Dynamic Programming module 1, and enters information into path following control module 2；
2.3.2, single index, structure are converted by tracking performance indicator and the smooth index of braking in a turn using weigthed sums approach
Path following control Multiobjective Optimal Control Problems are built, which will meet the physical constraint of steering, brake actuator simultaneously, and
Guarantee that path following control input and output meet Vehicle dynamics:
It submits to
I) Vehicle dynamics
Ii) constraint condition is formula (24)~(25)
2.3.3, in path following control device, genetic algorithm is called, solves Multiobjective Optimal Control Problems (26), obtains
Optimal opened loop control u*Are as follows:
It submits to
I) Vehicle dynamics
Ii) constraint condition is formula (24)~(25)
2.3.4, current time optimal opened loop control u is utilized*(0) it is fed back, realizes closed-loop control；
As shown in figure 4, Vehicle dynamics of the present invention are as follows:
Fxi=fxicos(δi)-fyisin(δi), i∈{1,2,3,4} (31)
Fyi=fxisin(δi)+fyicos(δi), i∈{1,2,3,4} (32)
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 around the yaw rotation inertia of the vertical axis of automobile mass center；M is car mass；X, Y is respectively vapour in earth coordinates
The transverse and longitudinal coordinate of vehicle centroid position；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 the longitudinal velocity of current automobile；αf、αrRespectively front-wheel side drift angle and rear-wheel side drift angle；Fz,f、Fz,rPoint
It Wei not automobile axle load；siFor four wheel slips of automobile；Axi、Bxi、Cxi、Dxi、ExiAnd Ayi、Byi、Cyi、Dyi、Eyi
To test fitting parameter, design parameter is as shown in following table:
4 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 4 are as follows: choose 30 drivers, be divided into according to gender, qualification following
Four classes: skilled male driver, skilled female driver, unskilled male driver, unskilled female driver.Driver is according to preparatory point
Class carries out real vehicle debugging respectively, debugs process as shown in figure 5, speed is set to 60km/h first, front-wheel additional rotation angle is set to
3deg, laboratory technician, to the feedback information of steering wheel mutation torque acceptance level, debug torque compensation control according to driver repeatedly
Gain, when driver's sensory papilla torque-variable is excessive, torque compensation is controlled gain reduction by laboratory technician, when driver feels to be mutated
When torque is too small, laboratory technician then tunes up torque compensation control gain, final to guarantee that steering wheel mutation torque be by driver
Received, and the torque compensation recorded at this time controls gain values；Secondly, speed is still set to 60km/h, front-wheel additional rotation angle model
It encloses for -6deg to 6deg, is divided into 2deg, the left and right sides is symmetrical, the identical width of front-wheel additional rotation angle when due to motor turning
The steering wheel mutation torque that the left and right sides generates in the case of value is identical, therefore need to only adjust front-wheel additional rotation angle range and be
Torque compensation under 0deg to 6deg controls gain.Laboratory technician connects steering wheel mutation torque according to driver when experiment
Torque compensation under by each corner intervention in degree debugging 0deg to 6deg range is controlled gain, keeps each front-wheel additional rotation angle dry
Steering wheel mutation torque under pre- is received by driver, and then determines that the torque under speed 60km/h difference corner intervention is mended
Control gain is repaid, and records the specific value of torque compensation control gain；Finally, debugging out different speeds using identical method
Torque compensation under different corner interventions controls gain, and vehicle speed range is 10km/h to 100km/h, is divided into 20km/h between speed,
Three dimension tables that speed, front-wheel additional rotation angle, torque compensation control gain are finally determined, Fig. 6 is EPS torque compensation of the present invention
Control 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 towards man-machine harmony hides dynamic barrier control method, which is characterized in that this method is: passage path
Dynamic Programming module is obtained according to the obstacle information, coordinate of ground point, vehicle driving state information acquired in real time, real-time optimization
Lateral displacement reference value, yaw angle reference value, yaw velocity reference value, the longitudinal velocity reference value of desired trajectory, are input to
Path following control module, while passage path tracing control module acquires current vehicle driving state information, real-time optimization obtains
Front wheel angle and four wheel slips out, control automobile realize collision avoidance；During controlling collision avoidance, pass through EPS torque compensation
Module determines that torque compensation controls gain according to speed, front-wheel additional rotation angle, by steering wheel mutation Torque Control in ideal range
It is interior, realize the automobile emergency collision avoidance of man-machine harmony；This method comprises the following steps:
Step 1, path Dynamic Programming module are believed according to the obstacle information, coordinate of ground point, vehicle driving state acquired in real time
Breath, real-time optimization obtain lateral displacement reference value, yaw angle reference value, yaw velocity reference value, the longitudinal speed of desired trajectory
Spend reference value comprising following sub-step:
Step 1.1, the performance indicator design process of path Dynamic Programming include following sub-step:
Step 1.1.1, using 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, HP, hFor the prediction time domain of path Dynamic Programming module, (XT+Hp, h,YT+Hp, h) it is prediction time domain interior prediction track
Terminal point coordinate is obtained by Mass Model iteration, automobile coordinate of ground point (X to be achieved when collision avoidanceg,Yg)；
The Mass Model are as follows:
Wherein,ayFor automobile side angle acceleration；For automobile longitudinal acceleration；Respectively automobile yaw angle and sideway
Angular speed；The longitudinal velocity and side velocity of automobile mass center respectively in earth coordinates；V is the longitudinal direction of current automobile
Speed；
Step 1.1.2, using two norms of side acceleration as the automotive safety index during collision avoidance, automotive correlation prevention is embodied
Stability establishes discrete quadratic form automotive safety index are as follows:
Wherein, Hc,hFor the control time domain of path Dynamic Programming module, t indicates current time, and k is t to Hc,hIn a certain moment,
ayFor the side acceleration of Mass Model, w1For ayWeight coefficient；
Step 1.2, the constrained designs process of path Dynamic Programming include following sub-step:
Step 1.2.1, setting stability of automobile constrains, and ensures automobile avoidance safety；
It obtains stability of automobile using the bound of linear inequality limit lateral acceleration to constrain, mathematic(al) representation are as follows:
|ayk,t| < μ g k=t, t+1 ... t+Hc,h-1 (3)
Wherein, μ is coefficient of road adhesion, and g is acceleration of gravity；
Step 1.2.2, position constraint is set, guarantees 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
Vehicle dynamics are 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 1.3, build path Dynamic Programming Multiobjective Optimal Control Problems solve Multiobjective Optimal Control Problems, Jin Erqiu
Yaw velocity reference value, yaw angle reference value, lateral displacement reference value and longitudinal velocity reference value out comprising following sub-step
It is rapid:
Step 1.3.1, obstacle information is obtained by radar sensor, running car is obtained by vehicle speed sensor and gyroscope
Status information, and the obstacle information and vehicle driving state information input path Dynamic Programming module that will acquire；
Step 1.3.2, single index is converted by tracking performance index and automotive safety index using weigthed sums approach, constructs road
Diameter Dynamic Programming Multiobjective Optimal Control Problems, which will meet stability of automobile constraint and position constraint simultaneously, and guarantee
Path Dynamic Programming input and output meet Mass Model:
It submits to
I) Mass Model
Ii) constraint condition is formula (3)~(7)
Step 1.3.3, in path Dynamic Programming controller, genetic algorithm is called, is solved Multiobjective Optimal Control Problems (9),
Obtain optimal opened loop control ay *Are as follows:
It submits to
I) Mass Model
Ii) constraint condition is formula (3)~(7)
Step 1.3.4, current time optimal opened loop control a is utilizedy *(0), yaw velocity reference value is found outYaw angle ginseng
Examine valueLateral displacement reference value Yref, longitudinal velocity reference valueExpression is as follows:
Wherein, V is the longitudinal velocity of current automobile,For the reference value of automobile side angle speed,For path side velocity
Reference value；
The lateral displacement that step 2, path following control module receive the desired trajectory exported by path Dynamic Programming module refers to
Value, yaw angle reference value, yaw velocity reference value, longitudinal velocity reference value, while the acquisition of path following control module is current
Vehicle driving state information, real-time optimization obtains the front wheel angle and four wheel slips of automobile, and control automobile realization is kept away
It hits comprising following sub-step:
Step 2.1, the performance indicator design process of path following control include following sub-step:
Step 2.1.1, the lateral displacement reference value Y exported using path Dynamic Programming moduleref, yaw angle reference valueIt is horizontal
Pivot angle speed referenceLongitudinal velocity reference valueWith two norm conducts of the error of practical vehicle driving state information
Tracking performance indicator embodies the track following characteristic of automobile, and expression formula is as follows:
Wherein, ηk,tFor vehicle driving state information, obtained by Vehicle dynamics iteration,
ηrefk,tFor the reference value that path Dynamic Programming module provides,Hp,lFor path trace control
The prediction time domain of molding block, w2For weight coefficient；
The Vehicle dynamics:
Fxi=fxicos(δi)-fyisin(δi), i∈{1,2,3,4} (31)
Fyi=fxisin(δi)+fyicos(δi), i∈{1,2,3,4} (32)
Wherein, Fxi、FyiRespectively four wheels along vehicle body coordinate direction longitudinal component and cross component force；fxi、fyiIt is respectively
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；
JzIt is the yaw rotation inertia around the vertical axis of automobile mass center；M is car mass；X, Y is respectively automobile matter in earth coordinates
The transverse and longitudinal coordinate of heart position；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 the longitudinal velocity of current automobile；αf、αrRespectively front-wheel side drift angle and rear-wheel side drift angle；Fz,f、Fz,rRespectively
Automobile axle load；siFor four wheel slips of automobile；Axi、Bxi、Cxi、Dxi、ExiAnd Ayi、Byi、Cyi、Dyi、EyiIt is examination
Fitting parameter is tested, design parameter is as shown in following table:
1 magic formula parameter of table
Step 2.1.2, smoothly referred to using two norms of control amount change rate as the braking in a turn of the actuator during collision avoidance
Mark embodies braking in a turn smoothness properties；Control amount u is four wheel slip s of vehicle front corner δ and automobileii∈{1,2,
3,4 }, the discrete smooth index of quadratic form braking in a turn is established are as follows:
Wherein, HC, lTo control time domain, t indicates current time, and k is t to Hc,hIn a certain moment, Δ u be control amount change rate；
Step 2.2, the constrained designs of path following control are that setting stability of automobile constrains, and ensure automobile avoidance safety；It utilizes
Linear inequality limits the bound of front wheel angle and four wheel slips, is turned to, the physical constraint of brake actuator,
Its mathematic(al) representation are as follows:
δmin< δk,t< δmaxK=t, t+1 ... t+Hc,l-1 (24)
simin< sik,t< simaxI ∈ { 1,2,3,4 } k=t, t+1 ... t+Hc,l-1 (25)
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 2.3, build path tracing control Multiobjective Optimal Control Problems solve Multiobjective Optimal Control Problems, obtain reality
The vehicle front corner of Shi Youhua and four wheel slips realize the automobile emergency collision avoidance control for considering moving obstacle,
Including following sub-step:
Step 2.3.1, path following control module obtains the lateral displacement reference of desired trajectory from path Dynamic Programming module
Value, yaw angle reference value, yaw velocity reference value and longitudinal velocity reference value；
Step 2.3.2, single index, structure are converted by tracking performance indicator and the smooth index of braking in a turn using weigthed sums approach
Path following control Multiobjective Optimal Control Problems are built, which will meet the physical constraint of steering, brake actuator simultaneously, and
Guarantee that path following control input and output meet Vehicle dynamics:
It submits to
I) Vehicle dynamics
Ii) constraint condition is formula (24)~(25)
Step 2.3.3, in path following control device, SQP algorithm is called, solves Multiobjective Optimal Control Problems (26), obtains
Optimal opened loop control u*Are as follows:
It submits to
I) Vehicle dynamics
Ii) constraint condition is formula (24)~(25)
Step 2.3.4, current time optimal opened loop control u is utilized*(0) it is fed back, realizes that closed-loop control realizes consideration movement
The automobile emergency collision avoidance of barrier controls；
Step 3, 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, and steering wheel mutation Torque Control can be connect in driver
The range received；Design process includes following sub-step:
The design method of step 3.1, 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 3.2 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 3.3 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 3.4, and EPS controller control EPS is helped
Force motor reaches the control effect of torque compensation.
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