CN108773372B - Self-adaptive vehicle automatic control system - Google Patents

Self-adaptive vehicle automatic control system Download PDF

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CN108773372B
CN108773372B CN201810539868.7A CN201810539868A CN108773372B CN 108773372 B CN108773372 B CN 108773372B CN 201810539868 A CN201810539868 A CN 201810539868A CN 108773372 B CN108773372 B CN 108773372B
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driving style
driver
module
style
identification
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CN108773372A (en
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韦玥
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Yangzhou Lainuo Automobile Technology Co ltd
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Jiangsu Weihang Automobile Communication Technology Co ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
    • B60W40/09—Driving style or behaviour
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/30—Driving style
    • 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
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/05—Type of road
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects

Abstract

The invention provides a self-adaptive vehicle automatic control system, which comprises a road condition information acquisition subsystem, a driving style identification subsystem, a driving strategy generation subsystem and a self-adaptive control subsystem, wherein the road condition information acquisition subsystem is used for acquiring real-time road condition information; the real-time road condition information comprises road congestion information and road flatness information. The invention has the beneficial effects that: the self-adaptive vehicle automatic control system is provided, self-adaptive control of a vehicle is achieved, driving styles of drivers are identified and corresponding control strategies are generated, user experience is greatly improved, and fuel consumption of the vehicle is reduced.

Description

Self-adaptive vehicle automatic control system
Technical Field
The invention relates to the technical field of automatic control, in particular to a self-adaptive vehicle automatic control system.
Background
With the increase in the number of automobiles and the development of artificial intelligence, many vehicle control systems have emerged. In the running process of the automobile, different styles of operation of drivers in the same road environment can enable the automobile to present different running states, so that certain influence is generated on the fuel economy of the automobile, and the influence of the driving style on the fuel economy of the whole automobile is considered, so that research on automatic control of the automobile is carried out on the basis of driving style identification, and a better control strategy can be obtained and less energy is consumed. However, the same driving operation may show different driving styles under different types of driving road conditions, so the driving style identification should be more accurate based on the road condition identification.
Disclosure of Invention
In view of the above problems, the present invention aims to provide an adaptive vehicle automatic control system.
The purpose of the invention is realized by adopting the following technical scheme:
the self-adaptive vehicle automatic control system comprises a road condition information acquisition subsystem, a driving style identification subsystem, a driving strategy generation subsystem and a self-adaptive control subsystem, wherein the road condition information acquisition subsystem is used for acquiring real-time road condition information, the driving style identification subsystem is used for identifying the driving style of a driver, the driving strategy generation subsystem is used for generating a control strategy for a vehicle according to the driving style of the driver, and the self-adaptive control subsystem is used for carrying out self-adaptive control on the vehicle according to the real-time road condition information and the control strategy; the real-time road condition information comprises road congestion information and road flatness information.
The invention has the beneficial effects that: the self-adaptive vehicle automatic control system is provided, self-adaptive control of a vehicle is achieved, driving styles of drivers are identified and corresponding control strategies are generated, user experience is greatly improved, fuel consumption of the vehicle is reduced, and self-adaptive control of the vehicle is achieved by acquiring real-time road condition information.
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The invention is further illustrated by means of the attached drawings, but the embodiments in the drawings do not constitute any limitation to the invention, and for a person skilled in the art, other drawings can be obtained on the basis of the following drawings without inventive effort.
FIG. 1 is a schematic structural view of the present invention;
reference numerals:
the system comprises a road condition information acquisition subsystem 1, a driving style identification subsystem 2, a driving strategy generation subsystem 3 and an adaptive control subsystem 4.
Detailed Description
The invention is further described with reference to the following examples.
Referring to fig. 1, the adaptive vehicle automatic control system of the embodiment includes a road condition information obtaining subsystem 1, a driving style identifying subsystem 2, a driving strategy generating subsystem 3 and an adaptive control subsystem 4, where the road condition information obtaining subsystem 1 is configured to obtain real-time road condition information, the driving style identifying subsystem 2 is configured to identify a driving style of a driver, the driving strategy generating subsystem 3 is configured to generate a control strategy for a vehicle according to the driving style of the driver, and the adaptive control subsystem 4 is configured to adaptively control the vehicle according to the real-time road condition information and the control strategy; the real-time road condition information comprises road congestion information and road flatness information.
The embodiment provides a self-adaptation vehicle automatic control system, has realized the self-adaptation control of vehicle, through discerning driver's driving style and generating corresponding control strategy, has greatly promoted user experience, has reduced vehicle fuel consumption, through acquireing real-time road conditions information, has realized vehicle self-adaptation control.
Preferably, the driving style recognition subsystem 2 includes a driving style classification module, a driving style preliminary judgment module, and a driving style final determination module, where the driving style classification module is configured to classify the driving style of the driver into a bias type, a normal type, and a flat type, the driving style preliminary judgment module is configured to preliminarily determine the driving style of the driver, and the driving style final determination module is configured to finally determine the driving style of the driver.
The driving style is classified and recognized, so that a better vehicle control strategy is acquired, and the fuel economy of the vehicle is improved.
Preferably, the bias style driver has large amplitude, high speed and high fuel consumption of the automobile when stepping on an accelerator pedal and a brake pedal; the amplitude of the accelerator pedal and the brake pedal of the driver with the common driving style is moderate, and the fuel consumption of the automobile is moderate; the mild driving style driver has small amplitude and low speed of stepping on an accelerator pedal and a brake pedal, and the fuel consumption of the whole vehicle is low;
the driving style of the driver is classified according to the fact that the driver steps on the accelerator pedal and the brake pedal, the driving behavior of the driver is met, and the driving style of the driver can be directly and quickly reflected;
preferably, the driving style preliminary judgment module comprises an impact degree determination module and a preliminary identification module, wherein the impact degree determination module is used for determining the impact degree of the automobile, and the preliminary identification module is used for preliminarily determining the driving style of the driver according to the impact degree of the automobile;
the impact degree determining module is used for determining the impact degree of the automobile, and specifically comprises the following steps: defining an automobile impact function according to the acceleration change speed of the automobile:
Figure BDA0001679056060000031
wherein C (t) represents the impact degree of the automobile at the time t, and a (t) represents the acceleration of the automobile at the time t;
when the vehicle speed fluctuates greatly, the acceleration changes greatly, but the impact degree can generate larger impact degree only when the vehicle speed fluctuates continuously and violently in a short time, and the impact degree determining module of the preferred embodiment can reflect the violent fluctuation degree of the vehicle by defining an impact degree function, thereby laying a foundation for accurate identification of subsequent driving styles;
preferably, the preliminary identification module is used for preliminarily determining the driving style of the driver according to the automobile impact degree, and specifically comprises: determining a recognition period T, and setting a first style threshold Y1And a second style threshold Y2If, if
Figure BDA0001679056060000032
The driving style of the driver is peaceful type if
Figure BDA0001679056060000033
The driving style of the driver is a general type,
Figure BDA0001679056060000034
the driver's driving style is biased, wherein Y is1＜Y2T represents the length of the recognition period, CiRepresenting the impact degree at the moment i;
the initial identification module of the preferred embodiment defines the driving operation which can cause the impact degree of the automobile to generate continuous and drastic change within a period of time as a bias driving style, the driving operation with moderate impact degree change as a common driving style, and the driving operation with small impact degree change as a mild driving style.
Preferably, the driving style final determination module comprises an identification coefficient determination module and a final identification module, the identification coefficient determination module is used for determining a driving style identification coefficient according to the automobile impact degree, and the final identification module is used for finally determining the driving style of the driver according to the driving style identification coefficient;
the identification coefficient determining module is used for determining a driver style identification coefficient according to the automobile impact degree, and specifically comprises the following steps: the driver style identification coefficient is defined using the following equation:
Figure BDA0001679056060000035
wherein F represents a driver style recognition coefficient, T represents a length of a recognition period, and CiAnd D represents the average number of absolute values of the automobile impact degrees of the road condition types of the ordinary drivers in the identification period, wherein the ordinary drivers are drivers in the ordinary driving style determined by the preliminary identification module, and the road condition types of the ordinary drivers include urban centers, suburbs and expressways.
The final identification module is used for finally determining the driving style of the driver according to the driver style identification coefficient, and specifically comprises the following steps:
setting a first recognition threshold S1And a second recognition threshold S2If F < S1The driving style of the driver is peaceful type, if S1＜F＜S2Then the driving style of the driver is the common type S2If < F, the driving style of the driver is biased, wherein S1＜S2(ii) a And if the identification results of the initial identification module and the final identification module are different, taking the identification result of the final identification module as the standard.
Although the impact reflects the difference of the driving style to a certain extent, it is not reasonable to identify the driving style directly according to the impact, because the identification and prediction need to predict the future information according to the information in the past period, and the physical quantity related to the impact in the past period is very large, the driving style final determination module of the preferred embodiment defines the recognition coefficient of the driving style to the driving styleThe driver's driving style is identified, wherein,
Figure BDA0001679056060000041
the impact degree change condition in a certain period of time can be reflected, the influence of different driving conditions on the style recognition coefficient can be reflected by the D, and a more accurate driving style recognition result is obtained.
The self-adaptive vehicle automatic control system is adopted to control the vehicles, 5 vehicles are selected for experiments, the vehicles are respectively a vehicle 1, a vehicle 2, a vehicle 3, a vehicle 4 and a vehicle 5, the vehicle fuel consumption and the driver satisfaction degree are counted, and compared with the existing vehicle control system, the self-adaptive vehicle automatic control system has the following beneficial effects:
driver satisfaction enhancement Vehicle fuel consumption reduction
Vehicle 1 29％ 27％
Vehicle 2 27％ 26％
Vehicle 3 26％ 26％
Vehicle 4 25％ 24％
Vehicle 5 24％ 22％
Finally, it should be noted that the above embodiments are only intended to illustrate the technical solutions of the present invention, and not to limit the protective scope of the present invention, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those of ordinary skill in the art that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.

Claims (1)

1. A self-adaptive vehicle automatic control system is characterized by comprising a road condition information acquisition subsystem, a driving style recognition subsystem, a driving strategy generation subsystem and a self-adaptive control subsystem, wherein the road condition information acquisition subsystem is used for acquiring real-time road condition information; the real-time road condition information comprises road congestion information and road flatness information; the driving style recognition subsystem comprises a driving style classification module, a driving style preliminary judgment module and a driving style final determination module, wherein the driving style classification module is used for classifying the driving style of a driver into a bias type, a normal type and a peace type, the driving style preliminary judgment module is used for preliminarily determining the driving style of the driver, and the driving style final determination module is used for finally determining the driving style of the driver; the bias-type style driver has large amplitude, high speed and high fuel consumption of the automobile when stepping on an accelerator pedal and a brake pedal; the amplitude of the accelerator pedal and the brake pedal of the driver with the common driving style is moderate, and the fuel consumption of the automobile is moderate; the mild driving style driver has small amplitude and low speed of stepping on an accelerator pedal and a brake pedal, and the fuel consumption of the whole vehicle is low; the driving style preliminary judgment module comprises an impact degree determination module and a preliminary identification module, wherein the impact degree determination module is used for determining the impact degree of the automobile, and the preliminary identification module is used for preliminarily determining the driving style of a driver according to the impact degree of the automobile; the impact degree determining module is used for determining the impact degree of the automobile, and specifically comprises the following steps: defining an automobile impact function according to the acceleration change speed of the automobile:
Figure FDA0002335123220000011
wherein C (t) represents the impact degree of the automobile at the time t, and a (t) represents the acceleration of the automobile at the time t; the preliminary identification module is used for preliminarily determining the driving style of a driver according to the automobile impact degree, and specifically comprises the following steps: determining a recognition period T, and setting a first style threshold Y1And a second style threshold Y2If, if
Figure FDA0002335123220000012
The driving style of the driver is peaceful type if
Figure FDA0002335123220000013
The driving style of the driver is a general type,
Figure FDA0002335123220000014
the driver's driving style is biased, wherein Y is1＜Y2T represents the length of the recognition period, CiRepresenting the impact degree at the moment i; the driving style final determining module comprises an identification coefficient determining module and a final identifying module, the identification coefficient determining module is used for determining a driving style identification coefficient according to the automobile impact degree, and the final identifying module is used for finally determining the driving style of the driver according to the driving style identification coefficient; the identification coefficient determining module is used for determining the driver style identification according to the automobile impact degreeThe coefficients are specifically: the driver style identification coefficient is defined using the following equation:
Figure FDA0002335123220000015
wherein F represents a driver style recognition coefficient, T represents a length of a recognition period, and CiThe impact degree at the moment i is represented, D represents the average number of the absolute values of the impact degrees of the automobiles of the road condition category where a common driver is located in the identification period, the common driver is a driver which is determined to be in a common driving style according to the preliminary identification module, and the road condition category where the common driver is located comprises an urban center, a suburban area and a highway; the final identification module is used for finally determining the driving style of the driver according to the driver style identification coefficient, and specifically comprises the following steps:
setting a first recognition threshold S1And a second recognition threshold S2If F < S1The driving style of the driver is peaceful type, if S1＜F＜S2Then the driving style of the driver is the common type S2If < F, the driving style of the driver is biased, wherein S1＜S2(ii) a And if the identification results of the initial identification module and the final identification module are different, taking the identification result of the final identification module as the standard.
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CN111252075A (en) * 2020-02-20 2020-06-09 重庆长安新能源汽车科技有限公司 Driving severity evaluation system, driving severity evaluation method, storage medium, and vehicle
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CN105246753A (en) * 2013-05-03 2016-01-13 雷诺股份公司 Method for optimising the energy consumption of a hybrid vehicle

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