CN110001654B - Intelligent vehicle longitudinal speed tracking control system and control method for self-adaptive driver type - Google Patents
Intelligent vehicle longitudinal speed tracking control system and control method for self-adaptive driver type Download PDFInfo
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- CN110001654B CN110001654B CN201910370185.8A CN201910370185A CN110001654B CN 110001654 B CN110001654 B CN 110001654B CN 201910370185 A CN201910370185 A CN 201910370185A CN 110001654 B CN110001654 B CN 110001654B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
- B60R16/0231—Circuits relating to the driving or the functioning of the vehicle
- B60R16/0232—Circuits relating to the driving or the functioning of the vehicle for measuring vehicle parameters and indicating critical, abnormal or dangerous conditions
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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
- 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
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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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
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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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/043—Identity of occupants
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Abstract
The invention relates to a self-adaptive driver type intelligent vehicle longitudinal speed tracking control method, which comprises the following steps: the data acquisition unit acquires vehicle speed information in real time; the data processing unit preprocesses the information acquired in the previous step; manually inputting the type of a driver into a logic operation unit and automatically reading the target vehicle speed of the system; judging whether the vehicle needs acceleration or deceleration; entering a corresponding acceleration control module or deceleration control module according to the judgment result of the previous step; and outputting the calculation result according to the previous step to a corresponding drive-by-wire system as an output signal. The method can provide intelligent vehicle longitudinal speed tracking control strategies with extremely high acceptance for drivers with different characteristics, improves the running safety of the vehicle and improves the riding experience, and meanwhile, the acceleration and braking switching strategy in the design avoids frequent actions of a longitudinal dynamics system at unnecessary moments, improves the safety of the vehicle during longitudinal control and reduces energy consumption.
Description
Technical Field
The invention relates to an intelligent vehicle longitudinal speed tracking control system and a control method, in particular to an intelligent vehicle longitudinal speed tracking control system and a control method of a self-adaptive driver (passenger) type.
Background
With the rapid development of the related technology of intelligent vehicles, the degree of intellectualization of the vehicles is gradually improved, and drivers are gradually liberated from heavy driving tasks. Particularly in longitudinal control, the existing constant-speed cruising and self-adaptive cruising systems are applied on a large scale, and the driving load of a driver is greatly reduced. However, pursuing more intelligent and more humanized longitudinal speed control is still a development direction of intelligent vehicle longitudinal speed control.
The longitudinal speed control of the intelligent vehicle is a key core part for realizing unmanned operation of the intelligent vehicle in the longitudinal direction, and the longitudinal speed control can have decisive influence on the dynamic property, stability, comfort and the like of the whole vehicle. Currently, there have been many studies on intelligent vehicle longitudinal speed tracking control. For example, chinese patent CN108279563a proposes a speed-adaptive unmanned vehicle track tracking PID control method, chinese patent CN108860146a proposes a speed control method, system and related device for a dual-drive vehicle, and chinese patent CN108319144A proposes a robot track tracking control method and system.
As for the conventional research results, the control accuracy is often used as the only index at the beginning of design in the research of intelligent vehicle longitudinal speed tracking control, and excessive precision is pursued. While this approach and method allows for better system performance, it reduces the driver's (occupant) acceptance of the system, especially at very unreasonable target speeds, such as those where the target speed is frequently changed drastically. Under the traditional control method, the frequency of the vehicle generates a setback, so that a human driver can be extremely distrust on the system. In addition, the driving/braking system is frequently operated under the working condition, so that the abrasion of the tire is increased and the energy is wasted. In addition, there are also few related achievements that combine the driver characteristics with the intelligent vehicle longitudinal speed tracking control method, considering that the individual characteristics of the driver are added to the intelligent vehicle longitudinal speed tracking control.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides a self-adaptive driver type intelligent vehicle longitudinal speed tracking control system and a control method, wherein a driver type parameter is used as a parameter, so that the accuracy of intelligent vehicle longitudinal speed tracking control is ensured, and frequent unnecessary actions of a longitudinal dynamics system are avoided. Meanwhile, the individual character difference of the driver is considered, and the personalized coordination control of the self-adaptive driver (passenger) characteristic of the intelligent vehicle longitudinal speed control is realized while the problem of the intelligent vehicle longitudinal speed control precision is solved.
The invention aims at realizing the following technical scheme:
the intelligent vehicle longitudinal speed tracking control system of the self-adaptive driver type is composed of a data acquisition unit 1, a data processing unit 2, a logic operation unit 3, a driver type input unit 4 and a drive-by-wire system 5;
the data acquisition unit 1 is connected with the data processing unit 2, the data processing unit 2 and the driver type input unit 4 are connected with the logic operation unit 3, the logic operation unit 3 is connected with the drive-by-wire system 5, the operation result is output to the drive-by-wire system 5, and the drive-by-wire system 5 is used for controlling acceleration or deceleration of the vehicle.
The control method of the intelligent vehicle longitudinal speed tracking control system of the self-adaptive driver type comprises the following steps:
A. the data acquisition unit 1 acquires vehicle speed signal information in real time through a CAN line;
B. the data processing unit 2 preprocesses the vehicle speed signal information acquired in the step A by a Gaussian filtering method;
C. manually inputting the driver type to the driver type input unit 4 and automatically reading the system target vehicle speed;
D. the logic operation unit 3 judges whether the vehicle needs acceleration or deceleration;
E. d, entering a corresponding acceleration control module or deceleration control module according to the judgment result of the step D;
F. and outputting the calculation result according to the step E as an output signal to the corresponding drive-by-wire system 5.
Further, in step C, for the driver type having a value input range of closed intervals [0,2], specifically, a value of 0 indicates an extremely conservative driver, a value of 2 indicates an extremely aggressive driver, and a transition from an extremely conservative to an extremely aggressive driver from a value of 0 to a value of 2 is linear.
Further, step D, determining whether the vehicle needs to accelerate or decelerate includes the following two steps:
d1, judging whether the following formula is established, if so, the system does not enter an acceleration control module to start an acceleration control program or does not enter a deceleration control module to start a deceleration control program, and if not, executing a step D2;
V tar -V act ＝0
wherein V is tar Indicating a target vehicle speed of the vehicle, V act Indicating the actual speed of the vehicle.
D2, judging whether the following formula is established, if so, entering an acceleration module to start an acceleration control program, and if not, entering a deceleration module to start a deceleration control program;
V tar -V act ≥0。
further, in the step E, entering a corresponding acceleration control module or deceleration control module according to the determination result in the step D includes the following modes:
and (2) entering an acceleration control module, wherein an acceleration control program adopts a PID control method based on fuzzy logic, takes the difference value between the type parameter of a driver and the target vehicle speed as the input of a fuzzy logic controller, and takes the obtained output result as the coefficient of a proportional link in a traditional PID controller.
Specifically, the basic domain range of the driver is transformed to the fuzzy domain, and a non-uniform quantization method is adopted to select the word set { cautious, common, active }, namely { CA, CO, AC }, for the driver characteristics. The vocabulary { little, middle, full }, i.e., { LI, MI, FU }, is selected for the actual velocity versus ideal velocity error.
Further, a triangle with simple mathematical expression, less calculation amount and higher sensitivity is selected as the membership function of the input and the output.
Further, according to the effect and influence of PID tuning parameters on the output characteristics and the control system, the expert experience and laboratory test data are combined, different driver characteristic inputs and actual speed and ideal speed error inputs of the longitudinal control system are combined, and the following parameter self-tuning principles are summarized by combining vehicle dynamics characteristics:
a. when the characteristics of the driver are more aggressive and the speed tracking error is above a medium level, a larger P value is needed to be taken in order to accelerate the response speed of the system, so that the time constant of the system is reduced;
b. when the characteristics of the driver are more aggressive and the speed tracking error is smaller, a P value with a moderate value is selected in order to accelerate the response speed of the system and avoid excessive overshoot;
c. when the driver is normal in type and the speed tracking error is above the medium value, a P value with a moderate value is selected to meet the riding feeling of the normal driver as much as possible;
d. when the driver type is normal and the speed tracking error is small, a P value with a small value should be selected in order to avoid excessive overshoot;
e. when the driver is cautious in type and the speed tracking error is below the medium magnitude, the P value with smaller value is selected to avoid overshoot and meet the riding feeling of the driver as much as possible;
f. when the driver type is cautious and the speed tracking error is small, a medium magnitude P value should be selected.
Further, the area barycenter method is used for deblurring.
Specifically, the integral link coefficient of the PID controller takes the value of 0.1, and the differential link coefficient takes the value of 0.05.
Mode 2, entering a deceleration control module, setting the maximum output brake master cylinder pressure to be 10Mpa, adopting a traditional PID controller, taking a coefficient of 6 in a proportional link, taking a coefficient of 0.1 in an integral link, and taking a coefficient of 0.05 in a differential link.
Compared with the prior art, the invention has the beneficial effects that:
the intelligent vehicle longitudinal speed tracking control method of the self-adaptive driver type can provide intelligent vehicle longitudinal speed tracking control strategies with extremely high acceptability for drivers with different characteristics, improves the running safety of the vehicle and improves the riding experience, and meanwhile, the acceleration and braking switching strategy in the design avoids frequent actions of a longitudinal dynamics system at unnecessary moments, improves the safety during vehicle longitudinal control and reduces the energy consumption.
Drawings
FIG. 1 is a schematic flow chart of a control method of an intelligent vehicle longitudinal speed tracking control system of the adaptive driver type of the invention;
FIG. 2 is a schematic diagram of a system module according to the present invention;
FIG. 3 is a schematic diagram of an acceleration control module according to the present invention.
In the figure, 1, a data acquisition unit 2, a data processing unit 3, a logic operation unit 4, a driver type input unit 5 and a drive-by-wire system.
Detailed Description
The present invention is further described below with reference to examples, which are to be construed as merely illustrative of the present invention and not a limitation of the scope of the present invention, since various modifications to the equivalent arrangements of the present invention will become apparent to those skilled in the art upon reading the present invention, which are intended to be within the scope of the appended claims.
As shown in fig. 1 and 2, an adaptive driver type intelligent vehicle longitudinal speed tracking control system includes a data acquisition unit 1, a data processing unit 2, a logic operation unit 3, a driver (passenger) type input unit 4, and a drive-by-wire system 5. The data acquisition unit 1 is connected to the data processing unit 2, the data processing unit 2 and the driver (passenger) type input unit 4 are connected to the logic operation unit 3, the logic operation unit 3 is connected to the drive-by-wire system 5, and the logic operation unit 3 outputs the operation result to the drive-by-wire system 5, and the drive-by-wire system controls acceleration or deceleration of the vehicle.
The control method of the intelligent vehicle longitudinal speed tracking control system of the self-adaptive driver type comprises the following steps:
A. the data acquisition unit acquires vehicle speed information in real time;
B. the data processing unit preprocesses the information acquired in the step A;
C. manually inputting a driver (passenger) type to the driver type input unit 4 and automatically reading a system target vehicle speed;
D. the logic operation unit 3 judges whether the vehicle needs acceleration or deceleration;
E. d, entering a corresponding acceleration control module or deceleration control module according to the judgment result of the step D;
F. and E, outputting the calculation result according to the step E as an output signal to a corresponding drive-by-wire system.
Further, the step A is characterized in that the acquisition of the vehicle speed signal is obtained through a CAN line.
Further, in the step B, a gaussian filtering method is selected as a filtering method for the vehicle speed signal in the preprocessing of the vehicle speed signal.
Further, in the step C, the value input range for the driver type is a closed range [0,2], specifically, the value 0 represents an extremely conservative driver (passenger), the value 2 represents an extremely aggressive driver, and the transition from the extremely conservative to the extremely aggressive driver (passenger) type from the value 0 to the value 2 is linear.
Further, in the step C, the value input range for the driver type is a closed range [0,2], specifically, the value 0 represents an extremely conservative driver (passenger), the value 2 represents an extremely aggressive driver, and the transition from the extremely conservative to the extremely aggressive driver (passenger) type from the value 0 to the value 2 is linear.
Further, the step D of determining whether the vehicle needs to accelerate or decelerate includes the following two steps:
d1, judging whether the following formula is established, if so, the system does not enter an acceleration control module to start an acceleration control program or does not enter a deceleration control module to start a deceleration control program, and if not, executing a step D2;
V tar -V act ＝0
v in tar Indicating a target vehicle speed of the vehicle, V act Indicating the actual speed of the vehicle.
D2, judging whether the following formula is established, if so, entering an acceleration module to start an acceleration control program, and if not, entering a deceleration module to start a deceleration control program;
V tar -V act ≥0
further, in the step E, entering a corresponding acceleration control module or deceleration control module according to the determination result in the step D mainly includes the following modes:
and (2) in the mode 1, entering an acceleration control module, wherein an acceleration control program adopts a PID control method based on fuzzy logic, takes the difference value between a driver type (passenger) parameter and a target vehicle speed as the input of a fuzzy logic controller, and takes the obtained output result as the coefficient of a proportional link in a traditional PID controller.
Further, the basic domain range of the driver (passenger) is transformed to the fuzzy domain, and the non-uniform quantization method is adopted, the quantization condition of the driver characteristics is shown in table 1, the quantization condition of the actual speed and the ideal speed error is shown in table 2, and the word set { CA, common, active }, i.e., { CA, CO, AC }, is selected for the driver characteristics. The vocabulary { little, middle, full }, i.e., { LI, MI, FU }, is selected for the actual velocity versus ideal velocity error.
TABLE 1
| Quantization level | -1 | 0 | 1 |
| Range of variation | [0 0.4) | [0.4 1.6] | (1.6 2] |
TABLE 2
| Quantization level | -1 | 0 | 1 |
| Range of variation | [0 1) | [1 4] | (4inf) |
Further, triangles with simple mathematical expressions, less calculation amount and higher sensitivity are selected as membership functions of input and output, wherein parameters of the input triangle membership functions are shown in table 3, table 4, and the output triangle membership functions are shown in table 5.
TABLE 3 Table 3
| Driver | Type | Params |
| cautious | trimf | [-0.8 0 0.8] |
| common | trimf | [0.2 1 1.8] |
| active | trimf | [1.2 2 2.8] |
TABLE 4 Table 4
| Error | Type | Params |
| little | trimf | [-2 0 2] |
| middle | trimf | [1 2.5 4] |
| fully | trimf | [3 5 1e+09] |
TABLE 5
| P | Type | Params |
| little | trimf | [-2 0 2] |
| middle | trimf | [1 2.5 4] |
| fully | trimf | [3 5 7] |
Further, according to the effect and influence of PID tuning parameters on the output characteristics and the control system, the expert experience and laboratory test data are combined, different driver characteristic inputs and actual speed and ideal speed error inputs of the longitudinal control system are combined, and the following parameter self-tuning principles are summarized by combining vehicle dynamics characteristics:
a. when the characteristics of the driver are more aggressive and the speed tracking error is above a medium level, a larger P value is needed to be taken in order to accelerate the response speed of the system, so that the time constant of the system is reduced;
b. when the characteristics of the driver are more aggressive and the speed tracking error is smaller, a P value with a moderate value is selected in order to accelerate the response speed of the system and avoid excessive overshoot;
c. when the driver is normal in type and the speed tracking error is above the medium value, a P value with a moderate value is selected to meet the riding feeling of the normal driver as much as possible;
d. when the driver type is normal and the speed tracking error is small, a P value with a small value should be selected in order to avoid excessive overshoot;
e. when the driver is cautious in type and the speed tracking error is below the medium magnitude, the P value with smaller value is selected to avoid overshoot and meet the riding feeling of the driver as much as possible;
f. when the driver type is cautious and the speed tracking error is small, a medium magnitude P value should be selected.
In the control system, two inputs and one output of the fuzzy controller are divided into 3 grades, and the following 9 fuzzy inference rules can be obtained by integrating the setting rules and combining expert experience summary. The written fuzzy inference statement is as follows:
1.If(Driver is cautious)and(Error is little)than(P is little)
2.If(Driver is cautious)and(Error is middle)than(P is little)
3.If(Driver is cautious)and(Error is fully)than(P is middle)
4.If(Driver is common)and(Error is little)than(P is little)
5.If(Driver is common)and(Error is middle)than(P is middle)
6.If(Driver is common)and(Error is fully)than(P is middle)
7.If(Driver is active)and(Error is little)than(P is middle)
8.If(Driver is active)and(Error is middle)than(P is fully)
9.If(Driver is active)and(Error is fully)than(P is fully)
further, the area barycenter method is used for deblurring.
Specifically, the integral link coefficient of the PID controller takes the value of 0.1, and the differential link coefficient takes the value of 0.05.
Mode 2, entering a deceleration control module, setting the maximum output brake master cylinder pressure to be 10Mpa, adopting a traditional PID controller, taking a coefficient of 6 in a proportional link, taking a coefficient of 0.1 in an integral link, and taking a coefficient of 0.05 in a differential link.
Claims (5)
1. The intelligent vehicle longitudinal speed tracking control method of the self-adaptive driver type is characterized by comprising the following steps of:
A. the data acquisition unit (1) acquires vehicle speed signal information in real time through a CAN line;
B. the data processing unit (2) preprocesses the vehicle speed signal information acquired in the step A through a Gaussian filtering method;
C. manually inputting a driver type to a driver type input unit (4) and automatically reading a system target vehicle speed;
D. the logic operation unit (3) judges whether the vehicle needs acceleration or deceleration;
E. d, entering a corresponding acceleration control module or deceleration control module according to the judgment result of the step D;
and D, entering a corresponding acceleration control module according to the judgment result of the step D, wherein the acceleration control module specifically comprises: entering an acceleration control module, adopting a PID control method based on fuzzy logic, taking the difference value between the type parameter of a driver and the target vehicle speed as the input of a fuzzy logic controller, and taking the obtained output result as the coefficient of a proportional link in a traditional PID controller;
the method comprises the following steps: transforming the basic domain range of the driver into a fuzzy domain, adopting a non-uniform quantization method to quantize the characteristic of the driver and the quantization condition of the actual speed and the ideal speed error, selecting a corresponding word set for the characteristic of the driver, the actual speed and the ideal speed error, selecting a triangle as a membership function of input and output, defuzzifying the obtained output result as a coefficient of a proportional link in a traditional PID controller according to the self-setting principle and fuzzy reasoning rules of different characteristic input and actual speed and ideal speed error input parameters of the driver of a longitudinal control system;
the parameter self-tuning principle comprises the following steps:
a. when the characteristics of the driver are more aggressive and the speed tracking error is above a medium level, a larger P value is needed to be taken in order to accelerate the response speed of the system, so that the time constant of the system is reduced;
b. when the characteristics of the driver are more aggressive and the speed tracking error is smaller, a P value with a moderate value is selected in order to accelerate the response speed of the system and avoid excessive overshoot;
c. when the driver is normal in type and the speed tracking error is above the medium value, a P value with a moderate value is selected to meet the riding feeling of the normal driver as much as possible;
d. when the driver type is normal and the speed tracking error is small, a P value with a small value should be selected in order to avoid excessive overshoot;
e. when the driver is cautious in type and the speed tracking error is below the medium magnitude, the P value with smaller value is selected to avoid overshoot and meet the riding feeling of the driver as much as possible;
f. when the driver type is cautious and the speed tracking error is small, a medium magnitude P value should be selected;
F. and E, outputting the calculation result according to the step E as an output signal to a corresponding drive-by-wire system (5).
2. An intelligent vehicle longitudinal speed tracking control method of adaptive driver type according to claim 1, characterized in that: and C, the numerical value input range of the driver type is a closed range [0,2], wherein the numerical value 0 represents an extremely conservative type driver, the numerical value 2 represents an extremely aggressive type driver, and the driver type from the numerical value 0 to the numerical value 2 linearly transits from the extremely conservative type to the extremely aggressive type.
3. An intelligent vehicle longitudinal speed tracking control method of adaptive driver type according to claim 1, characterized in that: step D, judging whether the vehicle needs acceleration or deceleration or not comprises the following two steps:
d1, judging whether the following formula is established, if so, the system does not enter an acceleration control module to start an acceleration control program or does not enter a deceleration control module to start a deceleration control program, and if not, executing a step D2;
V tar -V act ＝0
wherein V is tar Indicating a target vehicle speed of the vehicle, V act Representing an actual speed of the vehicle;
d2, judging whether the following formula is established, if so, entering an acceleration module to start an acceleration control program, and if not, entering a deceleration module to start a deceleration control program;
V tar -V act ≥0。
4. the method for controlling the longitudinal speed tracking of the intelligent vehicle according to claim 1, wherein step E, entering the corresponding deceleration control module according to the determination result of step D is specifically: and (3) entering a deceleration control module, setting the maximum output brake master cylinder pressure to be 10Mpa, adopting a traditional PID controller, taking a coefficient of 6 in a proportional link, taking a coefficient of 0.1 in an integral link, and taking a coefficient of 0.05 in a differential link.
5. An adaptive driver-type intelligent vehicle longitudinal speed tracking control system for executing the adaptive driver-type intelligent vehicle longitudinal speed tracking control method according to claim 1, characterized in that: the system consists of a data acquisition unit (1), a data processing unit (2), a logic operation unit (3), a driver type input unit (4) and a drive-by-wire system (5);
the data acquisition unit (1) is connected with the data processing unit (2), the data processing unit (2) and the driver type input unit (4) are connected with the logic operation unit (3), the logic operation unit (3) is connected with the drive-by-wire system (5), the operation result is output to the drive-by-wire system (5), and the drive-by-wire system (5) is used for controlling acceleration or deceleration of the vehicle.
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