CN108829110A - A kind of pilot model modeling method of cross/longitudinal movement Unified frame - Google Patents
A kind of pilot model modeling method of cross/longitudinal movement Unified frame Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
- G05D1/0289—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling with means for avoiding collisions between vehicles
Abstract
A kind of pilot model modeling method of cross/longitudinal movement Unified frame, comprises the steps of：The monotropic road track analytic expression of lateral direction of car is established using hyperbolic tangent function, acquire road and vehicle itself and its running condition information, the constraint of lateral direction of car displacement is obtained according to road status information, target function is established according to driver characteristics and demand for security, obtain optimization lateral displacement parameter, transverse direction force constraint suffered by vehicle is calculated in conjunction with vehicle running state and environmental factor, track of vehicle, which is obtained, using lateral force constraint gently spends constraint, target function, which is established, in conjunction with driver characteristics obtains the optimal value for gently spending parameter, finally obtain the track expectation of optimization.With lateral expectation, longitudinal velocity is desired value, description cross/longitudinal movement Unified frame pilot model is established, to realize the purpose of track following.
Description
Technical field
The present invention relates to intelligent vehicle control technical field, more particularly to it is a kind of based on driving safety and driver characteristics
Lane change track Analytical Expression seeks the pilot model design method combined with optimization and horizontal/vertical movement with restriction on the parameters.
Background technique
Track of vehicle planning is modeled in pilot model occupies important research status in intelligent driving field.Track rule
It draws and exports source as the reference quantity of driver modeling, be first of guarantor of vehicle safety operation during entire intelligent driving
Barrier.However, current most of trajectory plannings usually consider the gradual degree of route itself as safety index, this way exists
Seem when trajectory planning overly conservative, and the planned trajectory for having ignored driver's driving performance not can guarantee driver's driving yet
When comfort.
Driver modeling is as the means for realizing that Vehicular intelligent drives, and numerous researchers are by pilot model according to movement
Direction is divided into two kinds of models：Transverse movement pilot model and longitudinal movement pilot model.It is driven based on controller design
When the person's of sailing model, model is also separated into design.But, it is contemplated that most of operating conditions and pilot model controlled device-vehicle
The characteristics of, vehicle both direction movement have coupled characteristic, consider unidirectional motion state separately design driver's mould
Type will lead to because the deviation for the motion state for ignoring other direction makes its control effect generate large error.Therefore, in order to
So that controller design is more accurate, design pilot model needs to consider the interactional characteristic of its movement, by another party
To reference factor of the quantity of state as controller design, to guarantee to reach desired control effect.
Summary of the invention
Technology of the invention solves the problems, such as：For the intelligent driving of vehicle, provide a kind of based on driving safety and driver
Analytic representation, restriction on the parameters and the method for optimization for a kind of lane change reference locus that characteristic combines.Meanwhile it providing based on state
Compensate PID controller transverse and longitudinal combine pilot model so that vehicle movement can be realized track following and longitudinal velocity with
Track.
A kind of pilot model modeling method of cross/longitudinal movement Unified frame, which is characterized in that the pilot model
Modeling method includes the following steps：
Step 1：According to vehicle lane change track, path coordinate system is established, using the hyperbolic tangent function with parameter to transverse direction
Lane change track carries out analytic representation；
Step 2：Acquisition state of motion of vehicle and road environment information in real time
In real time by vehicle-state in onboard sensor acquisition vehicle travel process, lateral velocity, the longitudinal direction of vehicle are obtained
The information such as speed, course angle, then road information is acquired by external sensors such as vehicle-mounted camera, radars, it obtains road and has a lot of social connections
The effective informations such as degree, surface friction coefficient, body width, front face area, lateral direction of car position；
Step 3：Optimize the lateral displacement parameter in the analytic expression of lane change track
It analyzes to obtain the expectation of driver's longitudinal drive according to driver's driving intention and completes the axial route of transverse movement
Journey expectation, obtain step 1 in track analytic expression distance parameter, in conjunction with acquired in step 2 lateral direction of car position, road
Width, body width obtain the location parameter of track analytic expression and the constrained domain of lateral displacement parameter in step 1, in conjunction with safety
Demand and driving cycles establish the optimizing index function of lateral displacement parameter, by calculating and combining lateral displacement restriction on the parameters
Domain obtains the lateral displacement parameter of optimization；
Step 4：Optimize the gentle degree parameter in the analytic expression of lane change track
According to the transverse direction obtained in longitudinal drive expectation, vehicle front face area, present road coefficient of friction and step 3
Displacement, obtains the gentle degree restriction on the parameters domain in the analytic expression of track, establishes gentle degree parameter in conjunction with demand for security and driving cycles
Optimizing index function, optimize gentle degree parameter value in constrained domain, to obtain the expression of desired trajectory described in step 1
Formula；
Step 5：Vehicle expectation lateral velocity is obtained according to lateral displacement
It is referred to using desired trajectory obtained in step 4 as lateral displacement, obtains greatly sitting by designing PID controller
The lateral velocity for meeting transverse path tracking under mark system according to course angle information and drives longitudinal expectation for the lateral velocity
It is converted into transverse direction/longitudinal velocity expectation that vehicle coordinate is fastened.
Step 6：Determine pilot model output quantity
It is combined using laterally/longitudinal direction desired motion speed obtained in step 5 as reference value using PID controller design
Cross/longitudinal movement pilot model upper controller, acquire act on realization transverse path tracking that vehicle coordinate fastens with
And the lateral planning value ∑ F of resultant force and yaw moment of the longitudinal resultant force of synthesis of longitudinal velocity tracking, synthesisx、∑FyAnd ∑ Mz。
When carrying out lane change planning described in step 1, by establishing path coordinate system using hyperbolic tangent function to vehicle lane change
Track carries out mathematical analysis expression, and selected hyperbolic tangent function form is：
Y=ktanh [a (x-b)]+h
Wherein, y is the lateral displacement variable quantity of vehicle, and it is vertical to indicate that vehicle execution lane change operates it for the distance parameter of the track b
1/2, the k to traveling desired distance is the lateral displacement parameter of track, indicates that vehicle execution lane change operates it and laterally it is expected total position
1/2, the h moved is vehicle in the initial lateral position that geodetic coordinates is fastened, and x is current longitudinal distance of track, and a is track
Gentle degree parameter, indicates the gradual degree of track.
Relationship when vehicle driving between its driving trace and vehicle stabilization safety is considered described in step 3, according to change
Relationship between road behavior and road obtains the constrained domain of lateral displacement parameter k, builds further according to demand for security and driving cycles
The vertical performance index function about k：
Wherein, Jk1Indicate safety index, Jk2Indicate driver characteristics index, w1、w2For respective weight coefficient, w2≠ 0 is
w2Can be positive number can also be negative, and to indicate driver to the desired characteristic of lateral displacement, positive number indicates driver couple
Lateral displacement expectation is the smaller the better, and negative number representation driver is the bigger the better to the expectation of lateral displacement, by designing different w1, w2
To embody the expectation k value of the different desired lateral displacement amounts of driver.
Relationship when examining vehicle driving described in step 4 between its driving trace and vehicle stabilization safety, according to newton the
Two laws and friction circle constrain, and obtain the constrained domain that parameter a is gently spent in the analytic expression of track, are gently being spent according to track and peace
Full demand and driving cycles establish the performance index function about a：
w3> 0, w4≠ 0, w5≠0
Wherein, Ja1Indicate safety index, Ja2、Ja3Indicate driver to the performance indicator of vehicle lateral speed and acceleration,
w3、w4、w5For respective weight coefficient, w4≠ 0 i.e. w4Can be positive number can also be negative, to indicate driver to the lateral phase
Hope the characteristic of speed, it is the smaller the better that positive number indicates that driver it is expected lateral velocity, i.e., the more flat driving procedure the better, negative
Indicate that driver is the bigger the better to the expectation of lateral velocity, i.e., steering procedure is as quick as possible.w5Similarly, different by design
w3、w4、w5To embody the expectation a value of the different desired lateral displacement acceleration of driver.
It is described based on state compensation PID controller design combination cross/longitudinal movement pilot model controller, be controlled
Obj State space equation is：
Wherein, ux、uyVertical and horizontal speed respectively under earth coordinates,For the course angle of vehicle, ωrFor vehicle
Yaw velocity, vx、vyVertical and horizontal speed respectively under vehicle body coordinate system；Step 5: PID is controlled in step 6
Device processed is shown below：
uy=kpy·ey+ksy·∫ey+kdy·dey
ux1=kpvx·evx+ksvx·∫evx+kdvx·devx, ∑ Fx=ux1-mωrvy
uvy=kpvy·evy+ksvy·∫evy+kdvy·devy, ∑ Fy=uvy+mωrvx
∑Mz=kpwvx·evx+kswvx·∫evy+kdwvx·devx
Wherein, ux1、uvyFor the intermediate control amount of the state compensation of longitudinal velocity and lateral velocity, ey、∫ey、deyRespectively
It is lateral displacement deviation and its integral and differential term, kpy、ksy、kdyRatio, product respectively in lateral displacement PID controller
Divide, differential parameter；evx、∫evx、evxIt is longitudinal velocity deviation and its integral and differential term, k respectivelypvx、ksvx、kdvxRespectively
Ratio, integral, differential parameter in longitudinal tracking PID controller；evy、∫evy、evyIt is lateral velocity deviation and its product respectively
Point and differential term, kpvy、ksvy、kdvyRespectively ∑ FyLateral velocity tracking PID controller in ratio, integral, differential ginseng
Number；kpwvy、kswvy、kdwvyRespectively ∑ MzLateral velocity tracking PID controller in ratio, integral, differential parameter.
Beneficial effect：External and vehicle oneself state information collected by present invention combination vehicle sensors, utilizes
Hyperbolic tangent function carries out analytic representation to vehicle lane change track, while analysis obtains analytic expression restriction on the parameters domain, and then obtains
Feasible trajectory cluster simultaneously obtains optimization track by optimizing analysis, at the same design driver it is horizontal/be combined longitudinally controller realize it is vertical
It is tracked while displacement to speed with transverse path, the unification of the transverse and longitudinal motion control of pilot model is realized, for vehicle
Intelligent driving and realization have good theory directive significance and application prospect.
Detailed description of the invention
Fig. 1 is pilot model work flow diagram proposed by the invention；
Fig. 2 is research road environment figure of the present invention；
Fig. 3 is the path coordinate system established based on road environment figure；
Fig. 4 is the value range image that gentle degree parameter a changes with k；
Fig. 5 is experiment reference locus image；
Fig. 6 is 1 longitudinal velocity tracking effect of operating condition；
Fig. 7 is 1 longitudinal velocity tracing deviation of operating condition；
Fig. 8 is 1 lateral displacement tracking effect of operating condition；
Fig. 9 is 1 lateral displacement deviation of operating condition；
Figure 10, which is that operating condition 2 is longitudinal, accelerates control response effect；
Figure 11 is 2 longitudinal velocity deviation of operating condition；
Figure 12 is the even acceleration tracking effect of operating condition 3；
Figure 13 is the even acceleration tracking effect deviation of operating condition 3；
Figure 14 be operating condition 4 dash forward accelerating mode tracking；
Figure 15 is 4 impact speed tracing deviation of operating condition；
Figure 16 be operating condition 4 dash forward decelerating mode tracking；
Figure 17 is 4 anticlimax speed tracing deviation of operating condition；
Figure 18 is that operating condition 5 becomes accelerating mode tracking；
Figure 19 is that operating condition 5 becomes acceleration tracking error；
Figure 20 is 6 lateral displacement tracking effect of operating condition；
Figure 21 is 6 lateral displacement tracing deviation of operating condition；
Figure 22 is 6 longitudinal velocity tracking effect of operating condition；
Figure 23 is 6 longitudinal velocity tracing deviation of operating condition.
Specific embodiment
With reference to the accompanying drawing, to the design scheme of proposition further illustration and description.
The present invention proposes what a kind of vehicle lane change trajectory planning for vehicle driving safety was mutually unified with cross/longitudinal movement
Pilot model design method, the pilot model workflow layer figure being directed to is as shown in figure.
1. module represents pilot model transverse and longitudinal desired amount and obtains module, pass through external environment perception and vehicle itself
Parameter obtains the lateral displacement parameter after track parsingization when vehicle executes lateral lane change campaign and gently spends the pact of parameter
Beam domain, and then trajectory parameters are optimized by environment and driving safety demand and driver's self-characteristic, it obtains excellent
Change parameter, and then obtain complete reference locus analytic expression, as pilot model transverse direction desired amount.
2. module represents the pilot model controller of transverse and longitudinal movement Unified frame, obtain module in desired value and driven
Desired amount required for the person's of sailing model controller：Longitudinal velocity and lateral displacement.Wherein lateral displacement is by turning to planning for position
It moves desired amount and is converted into lateral velocity desired amount, and then using tracking controller by obtained lateral velocity and longitudinal velocity phase
Desired amount is converted into laterally resultant force, longitudinal resultant force, sideway resultant moment on fit coordinate system, then by output conversion will resultant force with
Resultant moment is converted into meeting driver to the input quantity of vehicle input form, to complete pilot model design.
3. module represents the controlled device of pilot model controller：Vehicle-road model, passes through pilot model pair
Vehicle is operated, so that vehicle obtains corresponding longitudinal velocity, lateral velocity, yaw velocity, and then is generated on road
Length travel, lateral displacement, course angle, thus with module 1. in desired amount obtain error, then by pilot model control
Device is controlled.
The invention proposes a kind of vehicle lane change trajectory plannings for vehicle driving safety mutually to unify with cross/longitudinal movement
Pilot model design method, implement in the steps below：
1) it establishes according to vehicle lane change track, path coordinate system is established, using the hyperbolic tangent function with parameter to transverse direction
Lane change track carries out analytic representation.
Look first at road environment such as Fig. 2：
Vehicle is refined into particle in Fig. 2, it is contemplated that the collision avoidance of vehicle local width and minimum safe distance is wanted safely
It asks, upper and lower ends dash-dotted gray line region is that vehicle completes safety zone existing for its mass center after lane change operates.By reading phase
Driver's transverse direction model document and itself actual observation are closed, when vehicle executes lane change behavior, it is contemplated that the analytical form of track
Expression has reference role to profile constraints expression, and the track that monotropic road operates is passed through tanh in this research
Function carries out approximate representation, and selected hyperbolic tangent function form is：
Y=ktanh [a (x-b)]+h (1)
Wherein, y is the lateral displacement variable quantity of vehicle, and b is the distance parameter of track, indicates that vehicle executes lane change and operates it
1/2, k of longitudinal driving desired distance is the lateral displacement parameter of track, indicates that vehicle executes the lateral phase that lane change operation generates
1/2, the h for hoping total displacement is vehicle in the initial lateral position that geodetic coordinates is fastened, and x is current longitudinal distance of track, and a is
The gentle degree parameter of track, indicates the gradual degree of track.
2) state of motion of vehicle and road environment information are acquired in real time
In real time by vehicle-state in onboard sensor acquisition vehicle travel process, lateral velocity, the longitudinal direction of vehicle are obtained
The information such as speed, course angle, then road information is acquired by external sensors such as vehicle-mounted camera, radars, it obtains road and has a lot of social connections
The effective informations such as degree, surface friction coefficient, body width, front face area, lateral direction of car position；
3) optimize the lateral displacement parameter in the analytic expression of lane change track
It analyzes to obtain the expectation of driver's longitudinal drive by driver's driving intention and completes the axial route of transverse movement
Journey expectation obtains the constrained domain of the location parameter and lateral displacement parameter in the analytic expression of track, by calculating and combining lateral position
Shifting parameter constrained domain obtains the lateral displacement parameter of optimization.
According to hyperbolic tangent function formula image, path coordinate system is established.Take the boundary line of initial road and target road
As X-axis, the transverse direction of road initial position is Y-axis, is illustrated in fig. 3 shown below.
Wherein, D is road width, and w is vehicle local width, dbuffFor vehicle collision avoidance minimum safe distance.Here false
If longitudinal road distance is it is known that i.e. b is known constant.It is initial by the available vehicle of the safe distance of vehicle and sideline
The constraint of position, by path coordinate system it is found that lateral direction of car initial position h is constrained to：
In Fig. 3, region folded by two teams' dotted line is the position area of feasible solutions that vehicle lane change operates front and back mass center above and below X-axis, is led to
Cross two areas of feasible solutions for a moment before and after the available vehicle lane change of vehicle initial position the variable quantity of mass center lateral displacement constraint,
That is the constraint of k：
After the constraint for obtaining k, according to vehicle safety demand and driver's driving performance, the performance indicator letter about k is established
Number：
Wherein, Jk1Indicate safety index, Jk2Indicate driver characteristics index, w1、w2For respective weight coefficient, w2≠ 0 i.e. w2
Can be positive number can also be negative, and to indicate driver to the desired characteristic of lateral displacement, positive number indicates driver to cross
The smaller the better to displacement expectation, negative number representation driver is the bigger the better to the expectation of lateral displacement, by designing different w1, w2Come
Embody the expectation k value of the different desired lateral displacement amounts of driver.
Analysis obtains k value and different weight coefficient w1、w2Between mapping：
4) optimize the gentle degree parameter in the analytic expression of lane change track
H is being determined, after the constraint of k, it is untreated that entire parameter of curve only remains a, therefore constrains according to practical driving safety
The constraint set of entire track can be obtained to obtain the constraint of a.
The vehicle front face area information it is expected in conjunction with longitudinal drive and obtained, foundation present road coefficient of friction, in conjunction with
Trajectory parameters obtain the gentle degree restriction on the parameters domain in the analytic expression of track, establish in conjunction with demand for security and driver characteristics gentle
The optimizing index function for spending parameter, by calculating and combining gentle degree restriction on the parameters domain to obtain the gentle degree parameter of optimization.
It is former according to track actual requirement, lateral displacement parameter, vehicle driving force analysis, newton second theorem, friction circle
Reason combines the constraint for obtaining gently spending parameter a：
a∈[amin,amax] (6)
Wherein, aminShow track slope close to 0 gentle degree parameter when indicating track to meet hyperbolic tangent function.
Wherein aymaxFor the vehicle lateral acceleration upper limit, it is expressed as follows：
In formula, m is vehicular gross combined weight, and g is acceleration of gravity, and μ is road friction coefficient, and ρ is atmospheric density, CDFor air
Resistance coefficient, A are vehicle front face area, and f is rolling resistance coefficient of vehicle.
After the constraint for obtaining a, the performance indicator established with demand for security and driver characteristics about a is gently spent according to track
Function：
w3> 0, w4≠ 0, w5≠0 (9)
Wherein, Ja1Indicate safety index, Ja2、Ja3Indicate driver to the performance indicator of vehicle lateral speed and acceleration,
w3、 w4、w5For respective weight coefficient, w4≠ 0 i.e. w4Can be positive number can also be negative, to indicate driver to the lateral phase
Hope the characteristic of speed, it is the smaller the better that positive number indicates that driver it is expected lateral velocity, i.e., the more flat driving procedure the better, negative
Indicate that driver is the bigger the better to the expectation of lateral velocity, i.e., steering procedure is as quick as possible.w5Similarly, different by design
w3、w4、w5To embody the expectation a value of the different desired lateral displacement acceleration of driver.
Analysis obtains a value and different weight coefficient w3、w4、w5Between mapping：
Fig. 4 indicates the bound curve of a under conditions of lateral displacement parameter k is between 1.25 to 2.25, wherein vehicle
Quality m takes 1359.8kg, and gravity acceleration g takes 9.8m/s2, surface friction coefficient μ takes 1, and front face area takes A to take 2.2m2, empty
Vapour lock force coefficient CD0.30 is taken, coefficient of rolling resistance f takes 0.01, vxTake 30m/s.
5) vehicle expectation lateral velocity is obtained according to lateral displacement.
It is referred to using desired trajectory obtained in step 4 as lateral displacement, by design linear PID controllers to greatly
The lateral velocity for meeting transverse path tracking under ground coordinate system, course angle information and step 3 according to obtained in step 2
Obtained in expectation longitudinal movement by the lateral velocity convert the expectation transverse direction/longitudinal velocity that vehicle coordinate is fastened.
Establish the Three Degree Of Freedom model of design vehicle longitudinal velocity, side velocity and yaw velocity, the expression formula of model
As shown in equilibrium equation (11)
Wherein, ux、uyVertical and horizontal speed respectively under earth coordinates,For the course angle of vehicle, ωrFor vehicle
Yaw velocity, vx、vyVertical and horizontal speed respectively under vehicle body coordinate system.
According to shown in the relational design PID controller such as formula (12) between lateral displacement and the earth lateral velocity：
uy=kpy·ey+ksy·∫ey+kdy·dey (12)
Wherein, ey、∫ey、deyIt is lateral displacement deviation and its integral and differential term, k respectivelypy、ksy、kdyIt is respectively horizontal
Ratio, integral, differential parameter into displacement PID controller.
Lateral velocity under the geodetic coordinates obtained by above formula, by converting the transverse direction that can be obtained in tracking control unit
It is expected that vy, conversion formula such as formula (13)：
6) pilot model output quantity is determined
The transverse direction obtained using formula (13)/longitudinal direction desired motion is designed using state feedback PID controller and is tied as reference value
Cross/longitudinal movement pilot model upper controller is closed, acquires and acts on the realization transverse path tracking that vehicle coordinate is fastened
And the lateral planning value ∑ F of resultant force and yaw moment of the longitudinal resultant force of synthesis of longitudinal velocity tracking, synthesisx、∑FyAnd ∑
Mz。
Following PID controller is designed according to vehicular longitudinal velocity equilibrium equation：
ux1=kpvx·evx+ksvx·∫evx+kdvx·devx (14)
∑Fx=ux-mωrVy (15)
Wherein, ux1It is inputted for the longitudinal resultant force of PID that longitudinal velocity includes state compensation, evx、∫evx、evxIt is longitudinal respectively
Velocity deviation and its integral and differential term, kpvx、ksvx、kdvxRatio, integral in respectively longitudinal tracking PID controller,
Differential parameter.
Following PID controller is designed according to vehicle lateral speed equilibrium equation：
uvy=kpvy·evy+ksvy·∫evy+kdvy·devy (16)
∑Fy=uvy+mωrvx (17)
Wherein, uvyIt include the PID laterally resultant force input of state compensation, e for lateral velocityvy、∫evy、evyIt is laterally respectively
Velocity deviation and its integral and differential term, kpvy、ksvy、kdvyRatio, integral respectively in horizontal tracing PID controller,
Differential parameter.
Following PID controller is designed according to yaw rate equilibrium equation：
∑Mz=kpwvx·evx+kswvx·∫evy+kdwvx·devx
Wherein, kpwvy、kswvy、kdwvyRatio, integral, differential parameter respectively in horizontal tracing PID controller.
By adjusting nine pid parameters, the complete PID controller for realizing expectation tracking can be obtained.
The emulation experiment data for the technical solution that the present invention provides more are given below.
Using a track in the track cluster for meeting constraint condition as reference locus, function is y=1.75 [tanh
[0.08(vxX-45)]+1] -1.5, wherein vx=30m/s, track are described as：Lateral displacement while vehicle passes through 90m
3.5m, trace image are as shown in Figure 5.
Operating condition 1：Vehicle keeps vxThe longitudinal velocity of=30m/s tracks track, and Fig. 6-Fig. 9 is its simulation result,
Wherein, Fig. 6, Fig. 8 are longitudinal velocity and lateral displacement two it is expected that actual value and desired value compare, and Fig. 7 and Fig. 9 are respective inclined
Residual quantity.
Operating condition 2：Straight line traveling, longitudinal velocity are originated from 0, it is desirable that are rapidly accelerated to 30m/s, at this time the lateral displacement phase
Hope to be 0, therefore only need to observe longitudinal velocity response effect, Figure 10, Figure 11 are its simulation result.
Operating condition 3：Straight line traveling, longitudinal velocity are originated from 0, it is desirable that with 5m/s2Acceleration carry out uniformly accelerated motion,
Figure 12, Figure 13 are its simulation result.
Operating condition 4：Vehicle is with 20m/s even running, and at a time unexpected acceleration/deceleration, variable quantity are ± 10m/s, institute
Controller tracking effect is designed as shown in Figure 14-Figure 17.
Operating condition 5：Straight line traveling, longitudinal velocity with sinusoidal model traveling be changed, period 3s, range from 0 to
30 variations, its simulated effect of the position Figure 18-Figure 19.
Operating condition 6：Longitudinal direction of car laterally tracks desired trajectory, the position Figure 20-Figure 23 with the speed traveling in operating condition 5
Its simulated effect.
The tracking effect of longitudinal velocity and lateral displacement can be seen that driver's mould proposed by the present invention from operating condition 1
Type can realize that transverse path is tracked when vehicle drives at a constant speed, and have good tracking effect, illustrate the design in longitudinal
There is preferable tracking performance on fast horizontal tracing.
The tracking of longitudinal velocity and corresponding effect can be seen that driver's mould proposed by the present invention from 2-operating condition of operating condition 5
Type can keep good tracking and response characteristic in various longitudinal driving operating conditions, illustrate that the present invention can be with good reality
Various longitudinal operations of existing driver required execution when driving.
The tracking effect of longitudinal velocity and lateral displacement can be seen that driver's mould proposed by the present invention from operating condition 6
Type algorithm can realize transverse path tracking when longitudinal acceleration changes, and have good tracking effect, illustrate that the design exists
Longitudinal become accelerates have well adapting to property on horizontal tracing.Illustrate that the pilot model may be implemented horizontal/longitudinal direction and combine,
The movement of two directions is realized to the unification of control.
External and vehicle oneself state information, utilizes tanh letter collected by present invention combination vehicle sensors
Several pairs of vehicle lane change tracks carry out analytic representation, while analysis obtains analytic expression restriction on the parameters domain, and then obtains feasible trajectory cluster
And obtain optimization track by optimizing analysis, while design driver it is horizontal/be combined longitudinally controller and realize longitudinal velocity and horizontal
Tracked while to trajectory displacement, realize the unification of the transverse and longitudinal motion control of pilot model, for Vehicular intelligent drive with
Realizing has good theory directive significance and application prospect.
Claims (5)
1. a kind of cross/longitudinal movement Unified frame pilot model modeling method, which is characterized in that the pilot model is built
Mould method includes the following steps：
Step 1：According to vehicle lane change track, path coordinate system is established, using the hyperbolic tangent function with parameter to lateral lane change
Track carries out analytic representation；
Step 2：Acquisition state of motion of vehicle and road environment information in real time
In real time by vehicle-state in onboard sensor acquisition vehicle travel process, obtain the lateral velocity of vehicle, longitudinal velocity,
The information such as course angle, then road information is acquired by external sensors such as vehicle-mounted camera, radars, obtain road width, road surface
The effective informations such as coefficient of friction, body width, front face area, lateral direction of car position；
Step 3：Optimize the lateral displacement parameter in the analytic expression of lane change track
It analyzes to obtain the expectation of driver's longitudinal drive and complete longitudinal distance phase of transverse movement according to driver's driving intention
Hope, obtain step 1 in track analytic expression distance parameter, in conjunction with acquired in step 2 lateral direction of car position, road width,
Body width obtain step 1 in the location parameter of track analytic expression and the constrained domain of lateral displacement parameter, in conjunction with demand for security with
Driving cycles establish the optimizing index function of lateral displacement parameter, excellent by calculating and combining lateral displacement restriction on the parameters domain to obtain
The lateral displacement parameter of change；
Step 4：Optimize the gentle degree parameter in the analytic expression of lane change track
The lateral displacement obtained in foundation longitudinal drive expectation, vehicle front face area, present road coefficient of friction and step 3,
The gentle degree restriction on the parameters domain in the analytic expression of track is obtained, the optimization of gentle degree parameter is established in conjunction with demand for security and driving cycles
Target function optimizes gentle degree parameter value, to obtain desired trajectory expression formula described in step 1 in constrained domain；
Step 5：Vehicle expectation lateral velocity is obtained according to lateral displacement
It is referred to using desired trajectory obtained in step 4 as lateral displacement, obtains earth coordinates by designing PID controller
Under the lateral velocity for meeting transverse path tracking, according to course angle information and drive longitudinal expectation and convert the lateral velocity to
The transverse direction that vehicle coordinate is fastened/longitudinal velocity expectation.
Step 6：Determine pilot model output quantity
Be used as reference value using laterally/longitudinal desired motion speed obtained in step 5, using PID controller design combine it is horizontal/
The pilot model upper controller of longitudinal movement acquires the tracking of realization transverse path and indulge for acting on that vehicle coordinate is fastened
To the planning value ∑ F of the longitudinal resultant force of synthesis of speed tracing, the lateral resultant force of synthesis and yaw momentx、∑FyAnd ∑ Mz。
2. a kind of pilot model modeling method of cross/longitudinal movement Unified frame according to claim 1, feature exist
In：When carrying out lane change planning described in step 1, by establishing path coordinate system using hyperbolic tangent function to vehicle lane change track
Mathematical analysis expression is carried out, selected hyperbolic tangent function form is：
Y=ktanh [a (x-b)]+h
Wherein, y is the lateral displacement variable quantity of vehicle, and the distance parameter of the track b indicates that vehicle executes lane change and operates its lengthwise rows
1/2, the k for sailing desired distance is the lateral displacement parameter of track, indicates that vehicle executes lane change and operates its transverse direction expectation total displacement
1/2, h is vehicle in the initial lateral position that geodetic coordinates is fastened, and x is current longitudinal distance of track, and a is the gentle degree of track
Parameter indicates the gradual degree of track.
3. a kind of pilot model modeling method of cross/longitudinal movement Unified frame according to claim 1, feature exist
In：Relationship when vehicle driving between its driving trace and vehicle stabilization safety is considered described in step 3, according to lane change row
Relationship between road obtains the constrained domain of lateral displacement parameter k, further according to demand for security and driving cycles establish about
The performance index function of k：
Wherein, Jk1Indicate safety index, Jk2Indicate driver characteristics index, w1、w2For respective weight coefficient, w2≠ 0 i.e. w2It can be with
It is positive number can also be negative, to indicate driver to the desired characteristic of lateral displacement, positive number indicates driver to lateral position
Shifting expectation is the smaller the better, and negative number representation driver is the bigger the better to the expectation of lateral displacement, passes through and designs different w1, w2To embody
The expectation k value of the different desired lateral displacement amounts of driver.
4. a kind of pilot model modeling method of cross/longitudinal movement Unified frame according to claim 1, feature exist
In：Relationship when examining vehicle driving described in step 4 between its driving trace and vehicle stabilization safety, it is fixed according to newton second
Rule is constrained with friction circle, obtains the constrained domain that parameter a is gently spent in the analytic expression of track, is gently being spent according to track and demand for security
The performance index function about a is established with driving cycles：
w3> 0, w4≠ 0, w5≠0
Wherein, Ja1Indicate safety index, Ja2、Ja3Indicate performance indicator of the driver to vehicle lateral speed and acceleration, w3、
w4、w5For respective weight coefficient, w4≠ 0 i.e. w4Can be positive number can also be negative, to indicate driver to laterally expectation speed
The characteristic of degree, it is the smaller the better that positive number indicates that driver it is expected lateral velocity, i.e., the more flat driving procedure the better, and negative number representation is driven
The person of sailing is the bigger the better to the expectation of lateral velocity, i.e., steering procedure is as quick as possible.w5Similarly, by designing different w3、w4、w5
To embody the expectation a value of the different desired lateral displacement acceleration of driver.
5. a kind of pilot model modeling method of cross/longitudinal movement Unified frame according to claim 1, feature exist
In：It is described based on state compensation PID controller design combination cross/longitudinal movement pilot model controller, controlled device
State space equation is：
Wherein, ux、uyVertical and horizontal speed respectively under earth coordinates,For the course angle of vehicle, ωrFor the cross of vehicle
Pivot angle speed, vx、vyVertical and horizontal speed respectively under vehicle body coordinate system；Step 5: PID controller is as follows in step 6
Shown in formula：
uy=kpy·ey+ksy·∫ey+kdy·dey
ux1=kpvx·evx+ksvx·∫evx+kdvx·devx, ∑ Fx=ux1-mωrvy
uvy=kpvy·evy+ksvy·∫evy+kdvy·devy, ∑ Fy=uvy+mωrvx
∑Mz=kpwvx·evx+kswvx·∫evy+kdwvx·devx
Wherein, ux1、uvyFor the intermediate control amount of the state compensation of longitudinal velocity and lateral velocity, ey、∫ey、deyIt is laterally respectively
Offset deviation and its integral and differential term, kpy、ksy、kdyRatio, integral, differential respectively in lateral displacement PID controller
Parameter；evx、∫evx、evxIt is longitudinal velocity deviation and its integral and differential term, k respectivelypvx、ksvx、kdvxRespectively longitudinal tracking
Ratio, integral in PID controller, differential parameter；evy、∫evy、evyIt is lateral velocity deviation and its integral and differential respectively
, kpvy、ksvy、kdvyRespectively ∑ FyLateral velocity tracking PID controller in ratio, integral, differential parameter；kpwvy、
kswvy、kdwvyRespectively ∑ MzLateral velocity tracking PID controller in ratio, integral, differential parameter.
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