CN108725453A - Control system and its switch mode are driven altogether based on pilot model and manipulation the man-machine of inverse dynamics - Google Patents
Control system and its switch mode are driven altogether based on pilot model and manipulation the man-machine of inverse dynamics Download PDFInfo
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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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
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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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/082—Selecting or switching between different modes of propelling
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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
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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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0019—Control system elements or transfer functions
- B60W2050/0028—Mathematical models, e.g. for simulation
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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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0019—Control system elements or transfer functions
- B60W2050/0028—Mathematical models, e.g. for simulation
- B60W2050/0029—Mathematical model of the driver
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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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0019—Control system elements or transfer functions
- B60W2050/0028—Mathematical models, e.g. for simulation
- B60W2050/0031—Mathematical model of the vehicle
Abstract
The invention discloses a kind of based on pilot model and manipulates the man-machine of inverse dynamics and drives control system and its switch mode altogether, including sensing system, driving intention identification model, man-machine drive model, handover control system with sovereign right altogether and execute system.Driving intention identification model is passed to by sensing system monitoring running environment information, car status information and driver status information, wherein driver status signal first；Secondly it establishes and drives model altogether based on manipulation inverse dynamics and the man-machine of pilot model, calculate desired handle input and the handle input of driver；It is established based on this and man-machine drives switching law altogether, system carries out necessary amendment on the basis of understanding driver's driving intention to it, when driver is temporarily lost with control ability or auxiliary system is temporarily lost with back work ability, controlled by another party's full powers, avoid it is man-machine between generate unnecessary interference.The present invention reduces driver's operating burden, avoids man-machine alternating uncoordinated.
Description
Technical field
The invention belongs to technical field of vehicle safety, and in particular to a kind of based on pilot model and manipulation inverse dynamics
It is man-machine to drive control system and its switch mode altogether.
Background technology
Driver can be greatly decreased caused by the human factors such as fatigue driving, misoperation in the universal of pilotless automobile
Accident.By the grade scale of SAE, vehicle intellectualized development can be divided into five grades：The complete mankind drive, driving assists,
Part automatic Pilot, automatic Pilot of having ready conditions, highly automated driving and six grades of fully automated driving.Although unmanned skill
Art has obtained long-term concern, and its research has achieved large development, but comes from practical promote with the angle of high volume applications
See, pilotless automobile to the vehicles as the mankind, will face legal constraints, insurance, technical difficulty, accident responsibility,
The problems such as driving pleasure, complicated road traffic environment also determine that the unmanned stage can not be achieved in short term, therefore not
Come in a very long time, man-machine to coexist, intelligent automobile still faces the situation of people-machine co- controlling.
With the raising of vehicle intellectualized degree and the continuous development of driving assistance system, the pass between automobile and driver
System becomes sufficiently complex, various vehicle active control systems based on environmental information perception and there are the driver of individual difference is total
With parallel binary control to intelligent automobile is constituted, there are a kind of dynamic interaction relationships between people-machine.Vehicle intellectualized degree
It improves and the expansion of autonomous permission causes the intention of vehicle and the intention of people necessarily to will appear the relationship of coupling and restriction.Automobile conduct
The stronger product of individual demand, the acceptance that user makes decisions on one's own for automobile and controls are to weigh a weight of automobile value
Want index.Therefore, it establishes and man-machine drives control system altogether and its switch mode is pass urgently to be resolved hurrily in intelligent automobile evolution
Key problem.
It is good it is man-machine drive altogether control system should under the premise of ensuring motor racing safety, according to driving behavior and
Automotive safety situation carries out adaptive switching to the driving power of between humans and machines, realizes that man-machine coordination drives.The people that the present invention designs
Machine drives control system altogether and its switch mode is that driver occupies the double of control and drives single control system, this is man-machine to drive control system altogether
In identification driving intention, on the basis of the controlled quentity controlled variable for estimating driver, meet driver intention and desired control target
Auxiliary control.It is realized with Intervention density as small as possible and is gone with driver's Compliance control, the degree of freedom to give driver's bigger
Automobile is controlled alone.
Invention content
Goal of the invention：In order to overcome the deficiencies in the prior art, the present invention provide it is a kind of based on pilot model and
It manipulates the man-machine of inverse dynamics and drives control system and its switch mode altogether, realized with Intervention density as small as possible total with driver
Control is enjoyed, driver's operating burden is reduced, avoids man-machine alternating uncoordinated.
The present invention be it is a kind of based on pilot model and manipulate inverse dynamics it is man-machine drive altogether control system and its switching mould
Formula.Man-machine control system of driving altogether includes sensing system, driving intention identification model, man-machine drives model, switching control with sovereign right altogether
System and execution system.Believed first by sensing system monitoring running environment information, car status information and driver status
Breath, wherein driver status signal passes to driving intention identification model；Secondly it establishes based on manipulation inverse dynamics and driver
The man-machine of model drives model altogether, to calculate the handle input of desired handle input and driver；And people is established based on this
Machine drives switching law altogether, and system carries out necessary amendment on the basis of understanding driver's driving intention to it, temporary in driver
When ability or auxiliary system out of hand when being temporarily lost with back work ability, controlled by another party's full powers, avoid it is man-machine between
Generate unnecessary interference.The man-machine control system and its switch mode of driving altogether designed by the present invention can either be suitable for current method
Rule condition is horizontal with environment perception technology, and can further decrease driver's operating burden, avoids man-machine alternating uncoordinated.This hair
It is bright it is easy to implement, have a good application prospect.
Technical solution：To achieve the above object, the technical solution adopted by the present invention is：
It is a kind of that control system, including sequentially connected sensing are driven based on pilot model and manipulation the man-machine of inverse dynamics altogether
Device system, man-machine drive model, handover control system with sovereign right and executes system at driving intention identification model altogether, wherein
The sensing system includes：
Driver status sensing module, for driver status signal to be passed to driving intention identification model,
Vehicle running state sensing module, for by vehicle running state signal pass to it is man-machine drive model altogether,
Running environment sensing module man-machine drives model altogether for passing to running environment signal；
The driving intention identification model is used to go out driving intention according to driver status signal identification, and is transmitted to man-machine
Model is driven altogether；
The man-machine model of driving altogether includes bus or train route model, pilot model, manipulates inverse dynamics model, the bus or train route model
Vehicle running state signal and running environment signal and driving intention are received, establishes be based on pilot model and behaviour on this basis
Vertical the man-machine of inverse dynamics drives model altogether, calculates desired handle input and the handle input of driver, and pass to sovereignty
Handover control system；
The sovereignty switching system includes pattern switching decision-making level, for judging simultaneously decision driving mode, and decision is believed
Number it is transmitted to execution system；
The execution system includes steering motor and controller, and controller is by controlling the steering motor that should currently export
Corner, order steering motor execute action.
Further, the driver status sensing module includes steering wheel angle/torque sensor, brake pedal sensing
Device, for monitoring driver actions' status signal；
The vehicle running state sensing module includes wheel detector, sideslip sensor, lateral acceleration sensor, matter
Heart lateral deviation angle transducer, for monitoring vehicle running state signal；
The running environment sensing module includes visual identity sensor, radar sensor, ultrasonic sensor, infrared biography
Sensor, for monitoring running environment signal.
Further, the driving intention identification model includes HMM model, SVM models.
Further, the desired handle input and the handle input of driver be respectively ideal steering wheel angle and
Actual driver's steering wheel angular signal.
Further, the driving mode includes driver's dominant pattern, machine auxiliary mode and automatic driving mode.
Meanwhile system system is driven based on pilot model and the man-machine of manipulation inverse dynamics altogether the present invention also provides above-mentioned
The switch mode of system, comprises the steps of：
Step 1), sensing system perceive and monitor running environment signal, Vehicular status signal and driver status letter
Number, driver status signal is passed into driving intention identification model, vehicle running state signal and running environment signal are passed
It passs and man-machine drives model altogether；
Step 2), driving intention identification model receive after driver status signal through HMM model to driver intention
Preliminary judgement is done, and exports maximum likelihood estimator；SVM models carry out second according to the maximum likelihood estimator of output and identify
More accurate driver intention is obtained, and passes it to bus or train route model；
Step 3), after bus or train route model receives driver intention signal, the vehicle got in conjunction with sensing system travels
Status signal and running environment signal calculate by processing and are transmitted to pilot model and manipulate in inverse dynamics model, calculate
Go out the riding manipulation of driver's output and manipulate inverse dynamics model and export optimal manipulation, respectively refers to driver's outbound course disk and turn
Angle and desired steering wheel angle, and its signal is transmitted to handover decisions system with sovereign right；
Step 4), after handover decisions system with sovereign right receives signal, pattern switching decision-making level therein is driven with what is received
Manipulation signal, optimal manipulation signal are sailed as decision object, using driving mode as the result of decision, switching principle with sovereign right is formulated, goes forward side by side
Row judges, result of decision signal is passed to execution system；
Step 5), after the controller in execution system receives pattern switching decision instruction, into corresponding driving condition, and
With steering wheel angle target in order to control, with the corner of steering motor object in order to control, corresponding steering motor corner is calculated, and will
Control command passes to steering motor actuator；
Step 6), steering motor executes action, realization course changing control after receiving instruction in execution system.
Further, in step 3), the step of manipulation inverse dynamics model, includes：
Step 3.1) establishes Three Degree Of Freedom auto model；
In formula, v is the side velocity of automobile；U is the longitudinal velocity of automobile；ωrFor the yaw velocity of automobile；M is whole
Vehicle gross mass；IzIt is vehicle around vertical axis rotary inertia；A, b is respectively distance of the vehicle barycenter to axle；δ is preceding rotation
Angle；FyfFor front-wheel lateral deviation power；FyrFor trailing wheel lateral deviation power；FxfFor front wheel drive force/brake force, Fxf>=0 is driving force, Fxf< 0
For brake force；FxrFor rear wheel drive force/brake force；FfFor rolling resistance, and Ff=mgf, f are coefficient of rolling resistance；FwFor sky
Atmidometer, Fw=CDA(3.6u)2/ 21.15, CDFor coefficient of air resistance, A is front face area；
Step 3.2) establishes Optimal Control Model；
State variable x (t)=[v (t) ω (t) u (t) x (t) y (t) θ (t)]T, x is lateral displacement；Y is longitudinal position
It moves；θ is course angle；
It is steering wheel angle δ to control variable Z (t)sw(t) and front wheel drive force/brake force Fxf(t)；
Control task is to pass through given path with the shortest time；
Step 3.3) solves optimal control problem；
Step 3.4) acquires optimal handle input, including desired steering wheel angle δ*。
Further, step 3.3), the method for solving optimal control problem are：Inversion dynamic control transformation will be manipulated most
The solution of excellent control problem is converted into the solution to nonlinear programming problem：
C[X(τk),Z(τk),τk；t0,te]≤0
Wherein, initial point τ0=-1, τkFor LG points, t0It is the initial point before time interval conversion；teI.e. time interval is converted
Preceding terminal；τeFor the transformed terminal of time interval.
Further, in pattern switching decision-making level, the switching principle with sovereign right of handover module with sovereign right is as follows：
It is assumed that driver turns right, steering wheel is just given threshold δmax、δminRespectively the upper limit of steering wheel angle is under
Limit monitors pilot model outbound course disk corner δ and by manipulation inverse dynamics mould when vehicle is in Turning travel state
The ideal orientation disk corner δ of type output*Numerical value；
If 1) | δ |>δmax, then illustrate that driver is now in high concentration situation, it is electronic into driver's dominant pattern
Machine is without any operation；
If 2) δmin<|δ|<δmax, according to the ideal orientation disk corner δ of Vehicle Handling Inverse Dynamics model output*With driving
The walking direction of member model outbound course disk corner δ currently to the right for Turning travel, should be divided into following several shapes by automobile
State：
State 1：If δmin<δ<δ*, illustrate that driver turns to the right with controller Collaborative Control automobile this moment, due to driving
The steering wheel angle that member provides is insufficient to allow automobile to complete steering operation, enters machine auxiliary mode at this time, and motor carries always
For power-assisted；
State 2：If δ*>0, δ<-δmin, then judge driver's operation error this moment, sovereignty grasped by controller, into certainly
Dynamic driving mode；
If 3) | δ |<δmin, then it is assumed that driver attention does not concentrate, and grasps control sovereignty by controller at this time, into certainly
Dynamic driving mode.
Advantageous effect：It is provided by the invention based on pilot model and manipulate inverse dynamics it is man-machine drive altogether control system and
Its switch mode has the advantage that compared with prior art：
1. can be intended to according to driving behavior and automotive safety situation carries out adaptive cut to the driving power of between humans and machines
It changes, realizes that man-machine coordination drives.And with Intervention density as small as possible realization and driver's Compliance control, to give driver
The degree of freedom of bigger goes to control automobile alone
2. this is man-machine drive altogether model can preferably simulate it is man-machine drive altogether, designed man-machine control system of driving altogether is carried out
Simulating, verifying.
Description of the drawings
Fig. 1 is the man-machine entire block diagram for driving control system and its switch mode altogether in the present invention；
Fig. 2 is Vehicle Handling Inverse Dynamics method schematic in the present invention；
Fig. 3 is Vehicle Handling Inverse Dynamics model flow figure in the present invention；
Fig. 4 is switch mode method flow diagram in the present invention.
Specific implementation mode
The present invention driving control system and its switching mould altogether to be a kind of based on pilot model and the man-machine of manipulation inverse dynamics
Formula.First by sensor system senses driver actions status signal, vehicle running state signal, running environment signal.Wherein
Driver status signal is passed into driving intention identification model, goes out driving intention for identification, and is transmitted to bus or train route model.Together
When vehicle running state signal and running environment signal passed into bus or train route model.Pass through bus or train route model, pilot model and behaviour
Vertical inverse dynamics model, obtains actual driver's steering wheel angular signal and ideal steering wheel angle, passes to sovereignty and cut
Change system.Switching system with sovereign right includes switch decision module, for judging simultaneously decision driving mode, and decision signal is transmitted to
Execution system.Execution system includes steering motor and controller, and controller is by controlling turning for the steering motor that should currently export
Angle, to which order steering motor executes action.
The present invention is further described with reference to the accompanying drawings and examples.
As shown in Figure 1, the work step of the present invention is：
Step 1), sensing system perceive and monitor running environment signal, Vehicular status signal and driver status letter
Number, wherein driver status signal is passed to driving intention identification model, vehicle running state signal and running environment are believed
It number passes to and man-machine to drive model altogether.
Step 2), driving intention identification model receive after driver status signal through HMM model to driver intention
Preliminary judgement is done, and exports maximum likelihood estimator；SVM models carry out second according to the maximum likelihood estimator of output and identify
More accurate driver intention is obtained, and passes it to bus or train route model；
Step 3), after bus or train route model receives driver intention signal, the vehicle got in conjunction with sensor-based system travels shape
State signal and running environment signal calculate by processing and are transmitted to pilot model and manipulate in inverse dynamics model, to count
It calculates the riding manipulation of driver's output and manipulates inverse dynamics model and export optimal manipulation, respectively refer to driver's outbound course disk
Corner and desired steering wheel angle, and its signal is transmitted to handover decisions system with sovereign right；
Step 4), after handover decisions system with sovereign right receives signal, driving of the switch decision module therein to receive
Manipulation signal (driver's outbound course disk corner), optimal manipulation signal (desired orientation disk corner) are decision object, to drive
Pattern (driver's dominant pattern, machine auxiliary mode, automatic driving mode) is the result of decision, formulates switching principle with sovereign right, and
Judged, result of decision signal is passed into execution system；
Step 5), after the controller in execution system receives pattern switching decision instruction, into corresponding driving condition, and
With the control of steering wheel angle displacement target, with the corner of steering motor object in order to control, corresponding steering motor corner is calculated, and will control
System order passes to steering motor actuator；
Step 6), steering motor executes action, realization course changing control after receiving instruction in execution system.
As shown in Figure 2,3, the specific steps for manipulating inverse dynamics model include：
Step 3.1) establishes Three Degree Of Freedom auto model；
In formula, v is the side velocity of automobile；U is the longitudinal velocity of automobile；ωrFor the yaw velocity of automobile；M is whole
Vehicle gross mass；IzIt is vehicle around vertical axis rotary inertia；A, b is respectively distance of the vehicle barycenter to axle；δ is preceding rotation
Angle；FyfFor front-wheel lateral deviation power；FyrFor trailing wheel lateral deviation power；FxfFor front wheel drive force/brake force (Fxf>=0 is driving force, Fxf< 0
For brake force)；FxrFor rear wheel drive force/brake force；FfFor rolling resistance (Ff=mgf, f are coefficient of rolling resistance)；FwFor sky
Atmidometer (Fw=CDA(3.6u)2/ 21.15, CDFor coefficient of air resistance, A is front face area).
If considering influence of the driving force/brake force to lateral deviation power, have：
In formula,For surface friction coefficient；FzfFor front-wheel vertical force；FzrTrailing wheel vertical force；k1、k2Respectively front and rear wheel
Comprehensive cornering stiffness.
Consider longitudinal loading transfer, has：
In formula, hgFor automobile height of center of mass.
Step 3.2) establishes Optimal Control Model
State variable x (t)=[v (t) ω (t) u (t) x (t) y (t) θ (t)]T, x is lateral displacement；Y is longitudinal position
It moves；θ is course angle.It is steering wheel angle δ to control variable Z (t)sw(t) and front wheel drive force/brake force Fxf(t), control task
It is that given path is passed through with the shortest time.
Constraints：
(1) boundary values constrains
Initial value is as follows：
X (0)=[0,0, u0,0,0,0]T
(2) process constraints
In view of preventing automobile from turning on one's side during avoiding obstacles, following process constraints condition is established：
In formula, L is wheelspan, and K is stability factor.
When automobile is driven power and when being front-wheel drive, has：
When automobile is by brake force, and assume that front and back wheel all in locking state, has：
(3) variable and state variable constraint are controlled
It is influenced by factors such as automotive performance and road conditions, automobile will meet certain state variable and control variable about
Beam is to ensure to smoothly complete Turning travel process.Therefore, following constraints is established：
umin≤u≤umax
δmin≤δ≤δmax
Step 3.3) solves optimal control problem
Step 3.2.1), optimal control problem is converted into nonlinear programming problem with Gauss puppet spectrometries
(1) above-mentioned inversion dynamic control is summarized as using Mayer types as the optimal control problem of optimization aim：
Min J=ψ (x (te),te)
C[x(t),z(t),t]≤0
(2) interval mapping
By the time interval t ∈ [t of optimal control problem0,te] τ ∈ [- 1,1] are converted into, time variable t is converted：
τ=2t/ (te-t0)-(te+t0)/(te-t0),
It can obtain
Min J=ψ (x (τe),te)
C[x(τ),z(τ),τ；t0,te]≤0
(3) global interpolation polynomial approximation state variable and control variable
Gauss puppet spectrometries choose N number of LG points and an initial point τ0=-1 is node, constructs N+1 Lagrange interpolation
Multinomial Li(τ) (i=0 ..., N), and as basic function approximation state variable
Wherein, Lagrange interpolation polynomials function
So that the approximation state on node is equal with virtual condition, i.e. x (τi)=X (τi), (i=0 ..., N).
Using Lagrange interpolation polynomials L* i(τ), (i=1 ..., N) carry out approximation control variable as basic function, i.e.,：
In formula,τi(i=1 ..., N) it is LG points.
(3) kinematics differential equation constraints conversion is Algebraic Constraint
It is Algebraic Constraint by dynamic differential equation constraints conversion, i.e.,：
Wherein differential matrix Dki∈RN×(N+1)It is a constant value in the case where interpolation knot number is given, expression formula is：
Wherein, τk(k=1 ..., N) is the point in set κ, and τi(i=0 ..., N) belong to set κ0={ τ0,τ1,…,
τN}.In interpolation knot τkIt is discrete at (1≤k≤N).In this way, can be by the dynamic differential equation constraints conversion of optimal control problem
For Algebraic Constraint, for k=1 ..., N has：
(4) SOT state of termination constraint under discrete conditions
The SOT state of termination should also meet kinetics equation constraint：
By end conswtraint conditional discrete and with Gauss integrals come approximate, can obtain：
WhereinFor Gauss weights, τkFor LG points.
Boundary values is constrained formula and path constraint formula to carry out in interpolation point discrete obtaining following formula：
C[X(τk),Z(τk),τk；t0,te]≤0
By above-mentioned transformation, the solution of the optimal control problem changed by Vehicle Handling Inverse Dynamics problem translates into pair
The solution of nonlinear programming problem.
Step 3.2.1), solve nonlinear programming problem with SQP
General nonlinearity constrained optimum control problem is as follows
In formula, f (x), ci(x) all it is real-valued continuous function and both at least has one is nonlinear,I={ me+ 1 ..., m }, construct subproblem
WhereingkIt is function f (x) in point xkGradient, BkIt is that glug is bright
The approximation of the extra large color battle array of day function.Remember that the solution of above-mentioned subproblem is dk, Wilson-Han-Powell methods that this patent is used
Exactly use dkAs the direction of search of kth time iteration, it is the descent direction of many penalty functions.
Gradually Novel Algorithm step：
(1) x is provided1∈Rn, σ > 0, δ > 0, B1∈Rn×n,ε≥0,k:=1
(2) it solves above-mentioned subproblem and obtains dk；If | | dk| |≤ε then stops；Seek αk∈ [0, δ] makes
(3)xk+1=xk+αkdk；Calculate Bk+1；k:=k+1；Go to step 2.
Penalty function P (x, σ) is L1Exact penalty function, εkIt is a non-negative ordered series of numbers and satisfaction
B is calculated with Quasi Newton formula progressive alternatek+1, take
sk=xk+1-xk,
B is calculated using BFGS updating formulask+1
Step 3.4) acquires optimal handle input, including desired steering wheel angle δ*。
As shown in figure 4, the switching principle with sovereign right of handover module with sovereign right is as follows：
It is assumed that driver turns right, steering wheel is just given threshold δmax, δmin, respectively the upper limit of steering wheel angle is under
Limit monitors pilot model outbound course disk corner δ and by manipulation inverse dynamics mould when vehicle is in Turning travel state
The ideal orientation disk corner δ of type output*Numerical value.
If 1) | δ |>δmax, then illustrate that driver is now in high concentration situation, it is electronic into driver's dominant pattern
Machine is without any operation；
If 2) δmin<|δ|<δmax, according to the ideal orientation disk corner δ of Vehicle Handling Inverse Dynamics model output*With driving
The walking direction of member model outbound course disk corner δ currently to the right for Turning travel, should be divided into following several shapes by automobile
State：
State 1：If δmin<δ<δ*, illustrate that driver turns to the right with controller Collaborative Control automobile this moment, due to driving
The steering wheel angle that member provides is insufficient to allow automobile to complete steering operation, enters machine auxiliary mode at this time, and motor carries always
For power-assisted.
State 2：If δ*>0, δ<-δmin, then judge driver's operation error this moment, sovereignty grasped by controller, into certainly
Dynamic driving mode.
When automobile turns to the left, the handoff procedure of handover module with sovereign right is similar.
If 3) | δ |<δmin, then it is assumed that driver attention does not concentrate, and grasps control sovereignty by controller at this time, into certainly
Dynamic driving mode.
The above is only a preferred embodiment of the present invention, it should be pointed out that：For the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (9)
1. a kind of driving control system altogether based on pilot model and manipulation the man-machine of inverse dynamics, it is characterised in that：Including successively
The sensing system of connection, driving intention identification model, it is man-machine drive model, handover control system with sovereign right altogether and execute system,
In,
The sensing system includes：
Driver status sensing module, for driver status signal to be passed to driving intention identification model,
Vehicle running state sensing module, for by vehicle running state signal pass to it is man-machine drive model altogether,
Running environment sensing module man-machine drives model altogether for passing to running environment signal；
The driving intention identification model is used to according to driver status signal identification go out driving intention, and is transmitted to and man-machine drives altogether
Model；
The man-machine model of driving altogether includes bus or train route model, pilot model, manipulates inverse dynamics model, and the bus or train route model receives
Vehicle running state signal and running environment signal and driving intention are established on this basis based on pilot model and are manipulated inverse
It is dynamic (dynamical) it is man-machine drive model altogether, calculate desired handle input and the handle input of driver, and pass to switching with sovereign right
Control system；
The sovereignty switching system includes pattern switching decision-making level, for judging simultaneously decision driving mode, and decision signal is passed
It is sent to execution system；
The execution system includes steering motor and controller, and controller is by controlling turning for the steering motor that should currently export
Angle, order steering motor execute action.
2. according to claim 1 drive control system, spy altogether based on pilot model and the man-machine of manipulation inverse dynamics
Sign is：The driver status sensing module includes steering wheel angle/torque sensor, brake pedal sensor, for supervising
Survey driver actions' status signal；
The vehicle running state sensing module includes wheel detector, sideslip sensor, lateral acceleration sensor, barycenter side
Angle sensor, for monitoring vehicle running state signal；
The running environment sensing module includes visual identity sensor, radar sensor, ultrasonic sensor, infrared sensing
Device, for monitoring running environment signal.
3. according to claim 1 drive control system, spy altogether based on pilot model and the man-machine of manipulation inverse dynamics
Sign is：The driving intention identification model includes HMM model, SVM models.
4. according to claim 1 drive control system, spy altogether based on pilot model and the man-machine of manipulation inverse dynamics
Sign is：The desired handle input and the handle input of driver are respectively ideal steering wheel angle and actual driving
Member's steering wheel angle signal.
5. according to claim 1 drive control system, spy altogether based on pilot model and the man-machine of manipulation inverse dynamics
Sign is：The driving mode includes driver's dominant pattern, machine auxiliary mode and automatic driving mode.
6. according to any one of claims 1 to 5 drive system system altogether based on pilot model and the man-machine of manipulation inverse dynamics
The switch mode of system, it is characterised in that：It comprises the steps of：
Step 1), sensing system perceive and monitor running environment signal, Vehicular status signal and driver status signal, will
Driver status signal passes to driving intention identification model, and vehicle running state signal and running environment signal are passed to people
Machine drives model altogether；
Step 2), driving intention identification model do just driver intention by HMM model after receiving driver status signal
Step judges, and exports maximum likelihood estimator；SVM models carry out second of identification according to the maximum likelihood estimator of output and obtain
More accurate driver intention, and pass it to bus or train route model；
Step 3), after bus or train route model receives driver intention signal, the vehicle running state that is got in conjunction with sensing system
Signal and running environment signal calculate by processing and are transmitted to pilot model and manipulate in inverse dynamics model, calculate and drive
The riding manipulation of the person's of sailing output and manipulate inverse dynamics model and export optimal manipulation, respectively refer to driver's outbound course disk corner and
Desired steering wheel angle, and its signal is transmitted to handover decisions system with sovereign right；
Step 4), after handover decisions system with sovereign right receives signal, pattern switching decision-making level therein is grasped with the driving received
Vertical signal, optimal manipulation signal are decision object, using driving mode as the result of decision, formulate switching principle with sovereign right, and sentenced
It is disconnected, result of decision signal is passed into execution system；
Step 5), after the controller in execution system receives pattern switching decision instruction, into corresponding driving condition, and with side
To disk corner target in order to control, with the corner of steering motor object in order to control, corresponding steering motor corner is calculated, and will control
Order passes to steering motor actuator；
Step 6), steering motor executes action, realization course changing control after receiving instruction in execution system.
7. the man-machine switching for driving control system altogether according to claim 6 based on pilot model and manipulation inverse dynamics
Pattern, it is characterised in that：In step 3), the step of manipulation inverse dynamics model, includes：
Step 3.1) establishes Three Degree Of Freedom auto model；
In formula, v is the side velocity of automobile；U is the longitudinal velocity of automobile；ωrFor the yaw velocity of automobile；M is the total matter of vehicle
Amount；IzIt is vehicle around vertical axis rotary inertia；A, b is respectively distance of the vehicle barycenter to axle；δ is front wheel angle；FyfFor
Front-wheel lateral deviation power；FyrFor trailing wheel lateral deviation power；FxfFor front wheel drive force/brake force, Fxf>=0 is driving force, Fxf< 0 is brake force；
FxrFor rear wheel drive force/brake force；FfFor rolling resistance, and Ff=mgf, f are coefficient of rolling resistance；FwFor air drag, Fw=
CDA(3.6u)2/ 21.15, CDFor coefficient of air resistance, A is front face area；
Step 3.2) establishes Optimal Control Model；
State variable x (t)=[v (t) ω (t) u (t) x (t) y (t) θ (t)]T, x is lateral displacement；Y is length travel；θ
For course angle；
It is steering wheel angle δ to control variable Z (t)sw(t) and front wheel drive force/brake force Fxf(t)；
Control task is to pass through given path with the shortest time；
Step 3.3) solves optimal control problem；
Step 3.4) acquires optimal handle input, including desired steering wheel angle δ*。
8. the man-machine switching for driving control system altogether according to claim 7 based on pilot model and manipulation inverse dynamics
Pattern, it is characterised in that：Step 3.3), the method for solving optimal control problem are：Inversion dynamic control transformation will be manipulated most
The solution of excellent control problem is converted into the solution to nonlinear programming problem：
C[X(τk),Z(τk),τk；t0,te]≤0
Wherein, initial point τ0=-1, τkFor LG points, t0It is the initial point before time interval conversion；teI.e. before time interval conversion
Terminal；τeFor the transformed terminal of time interval.
9. the man-machine switching for driving control system altogether according to claim 6 based on pilot model and manipulation inverse dynamics
Pattern, it is characterised in that：In pattern switching decision-making level, the switching principle with sovereign right of handover module with sovereign right is as follows：
It is assumed that driver turns right, steering wheel is just given threshold δmax、δminThe respectively upper and lower bound of steering wheel angle, when
When vehicle is in Turning travel state, pilot model outbound course disk corner δ and defeated by manipulation inverse dynamics model is monitored
The ideal orientation disk corner δ gone out*Numerical value；
If 1) | δ |>δmax, then illustrate that driver is now in high concentration situation, into driver's dominant pattern, motor is not
Carry out any operation；
If 2) δmin<|δ|<δmax, according to the ideal orientation disk corner δ of Vehicle Handling Inverse Dynamics model output*With pilot model
The walking direction of outbound course disk corner δ currently to the right for Turning travel, should be divided into following several states by automobile：
State 1：If δmin<δ<δ*, illustrate that driver turns to the right with controller Collaborative Control automobile this moment, since driver provides
Steering wheel angle be insufficient to allow automobile to complete steering operation, enter machine auxiliary mode at this time, motor provides power-assisted always；
State 2：If δ*>0, δ<-δmin, then judge driver's operation error this moment, sovereignty grasped by controller, into automatic Pilot
Pattern；
If 3) | δ |<δmin, then it is assumed that driver attention does not concentrate, and control sovereignty is grasped by controller at this time, into driving automatically
Sail pattern.
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