CN109866772B - Variable structure control method for man-machine cooperative driving of intelligent vehicle - Google Patents
Variable structure control method for man-machine cooperative driving of intelligent vehicle Download PDFInfo
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Abstract
The invention discloses a variable structure control method for man-machine cooperative driving of an intelligent vehicle, which is used for realizing switching of driving right of a semi-automatic driving vehicle between a driver and an automatic driving controller. The method comprises the following steps: 1. modeling a cooperative driving system: firstly, vehicle and traffic scene parameters are selected and determined, and then a cooperative driving system model formed by a driver control model, a vehicle automatic driving controller automatic driving model and a traffic model is constructed. 2. Calculating the stable range: and respectively calculating respective stable areas of the driver control model and the automatic driving model according to the collaborative driving system model and the parameters. 3. Designing a controller: and designing a switching function to complete the switching transfer of the driving right between man-machines according to the corresponding control quantity of the driver control model and the automatic driving model. The invention improves the driving safety and stability of the semi-automatic driving intelligent vehicle through the smooth switching of the man-machine control system under the condition of man-machine cooperative driving.
Description
Technical Field
The invention belongs to the computer and automation technology, in particular to the technical field of intelligent vehicle control, and particularly relates to a variable structure control method for man-machine cooperative driving in a semi-automatic driving intelligent vehicle.
Background
Semi-autonomous driving smart vehicles are one of the important types of smart vehicles. Semi-autonomous driving will last for a longer period of time before the smart vehicle transitions to full autonomous driving. Semi-autonomous driving is characterized in that a driver-vehicle automatic driving controller jointly performs control of a vehicle, namely man-machine cooperative driving, wherein switching of driving right or control right of the vehicle between the driver and the automatic driving controller is the most important problem of man-machine cooperative driving.
The Chinese patent application: a hybrid theory-based man-machine co-driving type electric power steering system and a control method (application number: CN106275061A) analyze the hybrid characteristics of the man-machine co-driving type electric power steering system by utilizing the hybrid theory, but a switching model is not explained.
The Chinese patent application: a man-machine cooperative driving type electric power steering system and a mode switching method (application number: CN106347449A) add an automatic steering function to realize the man-machine cooperative driving function of an intelligent automobile, but mainly aim at an electric power-assisted vehicle, and a controlled object has relative limitation.
The Chinese patent application: a hardware-in-loop simulation test platform (application number: CN107727417A) of a man-machine cooperative driving steering system is used for reducing the number of real vehicle tests and shortening the development period during the test, but is biased to the design and implementation of simulation, and the specific operation flow and method thereof are not specifically described.
In order to solve the technical problem, the invention provides a variable structure control method for man-machine cooperative driving aiming at the problem of driving right transfer under semi-automatic driving, constructs an intelligent vehicle variable structure control model combining a driver control model and an automatic driving model, and designs a switching function for switching between two controllers, thereby effectively realizing smooth switching of driving right between man and machine and improving the driving stability of the semi-automatic driving intelligent vehicle.
Disclosure of Invention
The present invention is directed to solving the above problems of the prior art. The variable structure control method for man-machine cooperative driving of the intelligent vehicle effectively realizes smooth switching of driving right between man-machines and improves driving stability of the semi-automatic driving intelligent vehicle. The technical scheme of the invention is as follows:
a variable structure control method for man-machine cooperative driving of an intelligent vehicle comprises the following steps:
(1) modeling a cooperative driving system: and selecting and determining parameters of a driver, a vehicle and a traffic scene, and constructing a collaborative driving system model consisting of a driver control model, a vehicle automatic driving controller automatic driving model and a traffic model. The technology regards the human-machine cooperation driving problem as the switching problem between a driver and a vehicle automatic driving controller under a traffic model.
(2) Calculating the stable range: and respectively calculating respective stable areas of a driver control model and an automatic driving model according to the cooperative driving system model and the parameters so as to obtain corresponding control variables, and designing a controller according to the known control variables.
(3) Designing a controller: and designing a switching function according to the corresponding control quantity of the driver control model and the automatic driving model, so that when the state of the system reaches a set switching function value, the system is automatically switched from a driver control structure to a vehicle automatic driving controller control structure, and the smooth switching of the human-machine controller is realized.
Further, in the cooperative driving system model, a method is described using a simplified full speed difference model as a specific example of a traffic model, but the actual selection is not limited to this model.
Further, the number of vehicles in the traffic model described in this patent is set to 2, where a semi-autonomous driving intelligent vehicle (hereinafter referred to as a "host vehicle") is a rear vehicle, and a target vehicle is a front vehicle.
Further, the driver model is exemplified by a simulated mechanical model, i.e. a vehicle controller model with time delay, but is not limited to such a model.
Further, the stable range calculation, which substitutes the driver control model and the automatic driving model into the traffic model to calculate the respective stable region, includes the following steps:
(1) assuming that the initial state of the traffic flow is stable, a critical curve which can still keep stable after the initial steady-state flow in the traffic model is disturbed is obtained according to the relation between the constant parameter and the vehicle model variable in the traffic model.
(2) And (3) assuming that the initial states of the driver control model and the automatic driving model are the same, combining the controller model and the traffic model, and respectively obtaining the stable ranges of state variables in the driver control model and the automatic driving model through the stability curve of the traffic model.
Further, the design of the controller comprises the following steps:
(1) and acquiring corresponding control quantity before and after switching of the controller according to the self characteristic of the cooperative driving system model and the corresponding parameter range of the driver and the machine.
(2) And according to the stable range of the current driving state, designing a switching function by using the stable domain range acquired before.
Further, the controller control quantity obtaining method is that the relation between the model state quantity and the output quantity can be obtained by deforming the driver control model and the automatic driving model in the prior art, and the control quantity of the controller with the front-back variable structure can be constructed according to the output quantity of the driver and the automatic driving system.
Furthermore, the design method of the switching function is to use the acceleration value of the vehicle in the driving state quantity of the vehicle as the switching criterion according to the known control quantity and according to the stable area x of the driver control modelH staA handover function is obtained.
The invention has the following advantages and beneficial effects:
the invention regards the man-machine cooperation driving problem as the switching problem between the driver and the vehicle automatic driving controller under the traffic model, and designs a vehicle variable structure control method combining the driver control model and the vehicle automatic driving controller automatic driving model aiming at the switching problem of the driving right between the driver and the automatic driving controller under the semi-automatic driving, so that when the state of the vehicle system reaches the set switching function value, the system is automatically switched from the driver control structure to the vehicle automatic driving controller control structure, thereby realizing the smooth switching of the man-machine controller and improving the safety and the stability of the semi-automatic driving intelligent vehicle.
Drawings
FIG. 1 is a general architecture of a variable structure control method for intelligent vehicle man-machine cooperative driving according to the present invention;
FIG. 2 is a flow chart of the sliding mode controller design of the present invention;
fig. 3 is a simulation diagram example of a sliding mode controller designed by the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described in detail and clearly with reference to the accompanying drawings. The described embodiments are only some of the embodiments of the present invention.
The technical scheme for solving the technical problems is as follows:
a variable structure control method for man-machine cooperative driving of an intelligent vehicle comprises the steps of constructing a cooperative driving system model, respectively calculating respective stable areas of a driver control model and an automatic driving model, and designing a switching function to complete switching and transferring of driving power between man and machine according to corresponding control quantity.
The following description of the embodiments of the present invention refers to the accompanying drawings and specific examples.
Fig. 1 shows a general architecture of a variable structure control method for man-machine cooperative driving of an intelligent vehicle, which includes the following steps:
1. modeling a cooperative driving system: and selecting and determining vehicle and traffic scene parameters, and constructing a cooperative driving system model consisting of a driver control model, a vehicle automatic driving controller automatic driving model and a traffic model. The parameters of the driver, the vehicle and the traffic scene comprise the reaction delay time t of a person relative to a machineτThe vehicle speed vsFront vehicle speed vtDistance d between two vehicles and actual acceleration a of the vehiclesActual acceleration a of the front vehicletAnd vehicle control parameters output by the controller, including the safe distance d0And the ideal acceleration a of the vehicles des. At the moment, the man-machine cooperation driving problem is converted into the switching problem between the driver and the automatic driving controller of the vehicle under the traffic model.
(1.1) traffic model
The traffic model is illustrated by a simplified full speed difference model, but is not limited to this model:
where σ is the sensitivity coefficient, λ is the reaction coefficient of the velocity difference, xn(t)>0 and vn(t)>0 and
respectively representing the position, speed, acceleration and speed difference Deltav of the nth vehiclen(t)＝vn+1(t)-vn(t) of (d). V (-) is an optimized speed function, is the vehicle separation distance dn(t) is monotonically increasing and bounded
In the formula: v. ofmaxMaximum speed of vehicle travel, d0The minimum safe distance between any two workshops.
The number of vehicles is set to 2, wherein a semi-automatic driving intelligent vehicle (hereinafter referred to as a vehicle) is a rear vehicle, and a target vehicle is a front vehicle.
(1.2) automatic driving model of vehicle automatic driving controller
The state space of the vehicle kinematics model is represented as
Wherein x ═ as,vs,vt,d]TIs a relevant state information vector of the vehicle, asIs the actual acceleration, v, of the vehiclesIs the speed of the vehicle, vtD is the distance between the two vehicles for the preceding vehicle speed, and is the same as Δ x when n is 2 in equation (2).
Is the ideal acceleration state of the vehicle and is the control quantity of the controller, namely the output quantity of the controller, AM、BMAnd C is a vehicle control state parameter matrix:
The solution (3) can be obtained
XM＝DM+But (4)
Wherein DM＝[dM1dM2dM3dM4]T. The output of the model is
(1.3) driver control model
The driver model of the present invention is illustrated by an imitation mechanical model, i.e. a vehicle controller model with time delay, but is not limited to such a model:
wherein
tτIs the reaction delay time of a human versus a machine.
The solution (6) can be obtained
Wherein DH＝[dH1dH2dH3dH4]T. The output of the model is
2. Calculating the stable range: and respectively calculating respective stable areas of the driver control model and the automatic driving model according to the collaborative driving system model and the parameters.
Assuming that the initial state of the traffic flow is stable and the distance between vehicles and the optimal speed are d and v (d), respectively, the initial positions of all vehicles at the steady state are:
where L is the link length and N is the total number of vehicles.
Let qn(t) is a uniform flow
Has an initial disturbance of
Substituting in formula, obtaining a linearization equation:
wherein, Δ qn(t)＝qn+1(t)-qn(t), V' (d) is a function V (Δ x)n(t)) at Δ xn(t) the derivative at d.
From qn(t)＝exp(iαkn + zt), the equation for z can be derived:
let z be z1(iαk)+z2(iαk)2+., substituting and finishing to obtain i αkAnd (i α)k)2When the coefficient of (i α)k)2When the coefficient is not negative and zero, the real part and the imaginary part are respectively zero, and then the critical curve that the initial steady-state flow can still keep stable after being disturbed is utilized by the principle of equivalent infinitesimal
Substituting equation (1) to integrate the distance yields:
wherein e1Is a stable constant.
Can be obtained by the arrangement of the formula (1),
wherein F ═ 1000, G ═ 0100, H ═ 0010.
Substituting equation (13) into equation (14) yields
Then
Wherein I ═ 0001.
If the driver control model is the same as the initial state x of the automatic driving model, the control quantity of the automatic driving model is as follows:
the state quantity of the automatic driving model can be obtained
For the driver control model, the control quantity is:
then the driver control model state quantity can be obtained
(3) Designing a controller: and designing a switching function according to the corresponding control quantity of the driver control model and the automatic driving model, so that when the state of the vehicle system reaches a set switching function value, the system is automatically switched from a driver control structure to a vehicle automatic driving controller control structure, and the smooth switching of the human-machine controller is realized.
During man-machine cooperation driving, the driver and the automatic driving controller of the vehicle cannot operate the vehicle at the same time, and only one controller can be selected from the automatic driving controllers. And selecting a sliding mode variable structure controller to realize the switching of the two types of controllers, designing a switching function and the sliding mode controller through known control quantity to ensure that the error is converged to zero, switching the control right, taking the acceleration as the input of the controller, and taking the distance between the vehicles as the output of the controller.
Referring to fig. 2, which is a flow chart of the design of the sliding mode controller of the present invention, the design of the sliding mode variable structure controller includes the following steps:
1. control quantity determination
(1.1) according to the relation between the state quantity and the output quantity in the driver control model, the output quantity u in the driving state of the driver can be obtained by a corresponding calculation method+Is composed of
(1.2) according to the relation between the state quantity and the output quantity in the automatic driving control model, the output quantity u in the automatic driving state can be obtained through a corresponding calculation method-Is composed of
(1.3) the driving output quantity u of the driver is synthesized by switching the front and rear control quantities according to the output quantities of the driver and the automatic driving system+And an automatic driving output u-The sliding mode variable structure controller has the control quantity of
2. Switching function design
Since the output quantity of the sliding mode variable structure controller is acceleration, the invention sets the state quantity x of the vehicle kinematic model as [ a ] according to the control quantity of the variable structure controllers,vs,vt,d]TAcceleration value a of the host vehiclesAs a switching criterion, the determined sliding mode state is enabled to be asymptotically stable and has good dynamic quality. Obtaining a switching function according to a stable region of a driver control model
Fig. 3 is a simulation diagram example of a sliding mode controller designed by the present invention. In the simulation scene, the initial conditions are that the speed of the vehicle is 8.33m/s (30km/h), the speed of the front vehicle is 5.56m/s (15km/h), the distance between the two vehicles is 30m, and the initial acceleration of the front vehicle is 0. The graphs (a), (b), (c) and (d) are the two-vehicle speed, the two-vehicle acceleration, the vehicle distance and the output of the three controllers, respectively.
In fig. (a) and (b), the solid line represents the vehicle speed and acceleration data, and the broken line represents the vehicle speed and acceleration data. Fig. (c) shows the vehicle pitch. In the graph (d), the solid line represents the output of the automatic driving controller of the vehicle, the dotted line represents the output controlled by the driver, and the dotted line represents the output of the sliding mode variable structure controller designed according to the method of the present patent. The result shows that the output quantity of the sliding mode variable structure controller is coincided with a driver in the early stage; danger appears in the middle of 1.2s, the system is switched into an automatic driving controller according with the switching condition of the control system, and the output quantity is superposed with the output quantity of the automatic driving controller; and 3.5s later, the danger is relieved and recovered to be the driver, and then the output quantity of the driver is coincided. The result shows that the designed sliding mode variable structure controller effectively realizes the cooperation of a driver and an automatic driving controller.
The above examples are to be construed as merely illustrative and not limitative of the remainder of the disclosure. After reading the description of the invention, the skilled person can make various changes or modifications to the invention, and these equivalent changes and modifications also fall into the scope of the invention defined by the claims.
Claims (1)
1. A variable structure control method for man-machine cooperative driving of an intelligent vehicle is characterized by comprising the following steps:
(1) and (3) modeling the cooperative driving system: selecting and determining vehicle and traffic scene parameters, and constructing a cooperative driving system model composed of a driver control model, a vehicle automatic driving controller automatic driving model and a traffic model, wherein the driver, vehicle and traffic scene parameters comprise the reaction delay time t of a person relative to a machineτThe vehicle speed vsFront vehicle speed vtDistance d between two vehicles and actual acceleration a of the vehiclesActual acceleration a of the front vehicletAnd a vehicle control parameter output by the controller, the vehicle control parameter including a safe distance d0And the ideal acceleration a of the vehicles des；
(2) And (3) calculating a stable range: setting the initial state stability of the traffic flow according to the cooperative driving system model and parameters, and calculating a critical curve which can still keep stable after the initial steady-state flow is disturbed; setting the initial states of the driver control model and the automatic driving model to be the same, respectively substituting the initial states into the critical curves, and calculating the respective stable areas of the driver control model and the automatic driving model;
(3) designing a controller: according to the control quantity corresponding to the driver control model and the automatic driving model, the acceleration value of the vehicle in the vehicle kinematic model is used as a switching criterion, and a switching function is obtained according to the stable region of the driver control model, so that when the state of the cooperative driving system reaches a set switching function value, the system is automatically switched from a driver control structure to a vehicle automatic driving controller control structure, and the smooth switching of a human-machine controller is realized;
substituting a driver control model and an automatic driving model into a traffic model respectively to calculate respective stable areas, comprising the following steps:
(1) assuming that the initial state of the traffic flow is stable, obtaining a critical curve which can still keep stable after the initial steady-state flow in the traffic model is disturbed according to the relation between constant parameters and vehicle model variables in the traffic model
Where V (d) is an optimized velocity function, d is the inter-vehicle distance, σ is a coefficient of sensitivity, λ is a coefficient of reaction to velocity difference, e1Is a stability constant;
(2) assuming that the initial states of the human and the machine are the same, combining the controller model with the traffic model, and respectively obtaining the stable ranges of state variables in the driver control model and the automatic driving model through the stability curve of the traffic model;
the state quantity of the automatic driving model of the vehicle is
Wherein xMIs the vehicle state under automatic driving,
is a stable limit value of the autopilot output, BMIs a vehicle control state parameter matrix, DMIs a parameter matrix of the initial state of the machine driving,
is a stability boundary value of the vehicle state under automatic driving;
the driver controls the model state quantity to
Wherein xHIs the state of the vehicle driven by the driver, theta is the time constant of the actuator, t represents time,
is a steady limit value of the driver control output, BHIs a driver controlled state parameter matrix, DHIs a matrix of parameters of the initial state of the driver's driving,
is a stable region of the driver control model;
the design of the controller comprises the following steps:
(1) obtaining the relation between the model state quantity and the output quantity through a driver control model and an automatic driving model, and constructing the control quantity of the front-back variable structure controller according to the output quantities of the driver and an automatic driving system
(2) According to the control quantity u (t), a vehicle kinematic model is obtained
Is [ a ]s,vs,vt,d]TAcceleration value a of the host vehiclesAs a handover criterion, AM、BMAnd C is a vehicle control state parameter matrix:
stability region according to driver control model
Obtaining a switching function
Wherein e1For stability constant, I ═ 0001]，F＝[1 0 0 0]，G＝[0 1 0 0]。
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