CN110096748A - A kind of people-the Che based on vehicle kinematics model-road model modelling approach - Google Patents

A kind of people-the Che based on vehicle kinematics model-road model modelling approach Download PDF

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Publication number
CN110096748A
CN110096748A CN201910257785.3A CN201910257785A CN110096748A CN 110096748 A CN110096748 A CN 110096748A CN 201910257785 A CN201910257785 A CN 201910257785A CN 110096748 A CN110096748 A CN 110096748A
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vehicle
people
road
driver
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王金湘
严永俊
张廓然
林中盛
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Southeast University
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Southeast University
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    • G06F17/5095

Abstract

The present invention relates to a kind of people-Che based on vehicle kinematics model-road model modelling approach.The vehicle kinematics model of the foundation considers effect of the human driver in driving drives, using in driver's steering characteristic neuromuscular delay time, taking aim at the parameters such as time, steering gain characterizes the human driver of different driving behaviors in advance, the vehicle control device designed based on this model is driven as people, improves the riding comfort of occupant.People-Che based on vehicle kinematics model-road model proposed by the present invention reduces controller design difficulty, and real-time is good, and considers the riding comfort of human driver, and having practicability also has wide commercial application prospect.

Description

A kind of people-the Che based on vehicle kinematics model-road model modelling approach
Technical field
The present invention relates to path plannings and path trace, belong to field of intelligent transportation technology, and in particular to one kind is based on vehicle People-Che-road model modelling approach of kinematics model.
Background technique
The trend of " intelligent, net connectionization, motorized, sharedization " as current automobile industry development, turns to generation with intelligence The autonomous vehicle of table and semi-autonomous vehicle are the current research hotspots of many scientific & technical corporation and automobile manufacturing company both at home and abroad.Intelligence Can driving can be realized with X (vehicle, road, people etc.) intelligent information exchange, shared, have complex environment perception, intelligence is determined The functions such as Collaborative Control, goal in research are substitution human driver's progress vehicle autonomous driving work, and so as to improve driving Safety and efficiency.But it is not the unmanned technology for the full automation that driver frees from uninteresting driving It is stranghtforward, but a gradually progressive process, compared with automatic Pilot, semi-automatic driving is more likely realized at present. General vehicle model is mostly vehicle dynamic model at present, and kinetic model is more demanding to vehicle parameter, wherein many parameters All there is nonlinear characteristic, such as side drift angle, steering rigidity, this will increase the computation burden of controller, and complicated calculating can drop The real-time of low vehicle motion control, therefore in practical applications, the model existing defects based on dynamics of vehicle.
Summary of the invention
To solve the above problems, the invention discloses a kind of people-Che based on vehicle kinematics model-road model modeling sides Method, models the computation burden for reducing controller by vehicle kinematics, at the same using in driver's steering characteristic delay time, The parameters such as time, steering gain are taken aim to consider the driving performance of driver in advance, and vehicle control device is driven as people It sails, improves the riding comfort of occupant.
In order to achieve the above objectives, technical scheme is as follows:
A kind of people-the Che based on vehicle kinematics model-road model modelling approach, using vehicle-road kinematics model To replace vehicle dynamic model more commonly used at present.As shown in Figure 1, in the case where ψ is low-angle, it can be to the three of ψ Angle function value carries out approximate processing, i.e. ψ=1 cos, sin ψ=ψ, tan ψ=ψ, vehicle-road kinematics model can be expressed as
Further, l in described Fig. 1fAnd lrThe respectively distance of automobile front-axle and rear axle to vehicle centroid, VxIndicate vehicle Longitudinal velocity, y is the current lateral position of vehicle centroid, ydesIndicate vehicle centroid on reference locus with current location Corresponding target position, ey=y-ydesIndicate the error between vehicle centroid current location and reference locus.δfFor vehicle front Steering angle carries out steering operation to control vehicle, ψ indicates the course of current vehicle position as the output of pilot model Angle, ψdesIt is the vehicle centroid corner cut that the tangent line of corresponding position and X-axis are formed in reference path, eψ=ψ-ψdesIndicate vehicle With the course deviation of corresponding position in reference path.
Assuming that vehicular longitudinal velocity VxFor constant, front wheel steering angle δfIt is smaller, then the lateral deviation movement of vehicle can approximate table It is shown as:
Further, the model in order to when design vehicle controller consider driver steering characteristic, in vehicle - road model in introduce pilot model.
Wherein, Td、Tp、GhIt respectively indicates the delay time of driver, take aim at time and ratio of turning gain in advance.a0It is normal Number, RgFor the transmission ratio of steering system, the i.e. ratio of steering wheel angle and vehicle front corner.Driver is to vehicle in the model Apply course changing control behavior when, delay time is divided into two parts, i.e. Tdd1d2, wherein τd1Have recognized the need to for driver It redirect to and executes a reaction delay existing for go to action, meanwhile, when driver executes go to action, can also on arm There are a neuromuscular delay τd2;Driver always exports a letter proportional to input signal with the smallest workload Number, i.e. ratio of turning gain, YpWhat is indicated is the lateral position taken aim in advance in reference path a little, is taken aim in advance a little as before current vehicle position The intersection point of vertical line and reference path, T are at square LpIndicate that the pre- of driver takes aim at the time, when longitudinal direction of car vehicle velocity VxWhen constant, drive Member's forward sight distance is L=Vx*Tp, YpWhat is indicated is exactly the lateral position taken aim in advance at the vehicle front L in corresponded to reference path a little It sets, y+TpVxψ indicates driver according to the pre- vehicle location taken aim at after the time of current vehicle state estimation.
Further, for the ease of modeling in Matlab/Simulink, discrete time is converted by above-mentioned continuous model State model.According to people-Che established above-road model, driver-vehicle-roadnet model discrete time shape is defined State variable is
X (k)=[x1(k), x2(k), x3(k), x4(k), x5(k), x6(k), x7(k)]T, wherein
The input of people's bus or train route model isPeople-the Che-road model state-space model It can be described as
X (k+1)=Ax (k)+Buu(k)
Wherein
Further, in people-Che proposed by the present invention-road model, it is contemplated that the steering characteristic of driver, by the people When bus or train route model is used for path planning and path trace, it may be considered that the manipulative behavior and preference of driver.On the other hand, due to Using kinematic auto model, the people's bus or train route model proposed be substantially it is linear, in complicated path planning or Calculating cost can be reduced using the model in path trace.
The beneficial effects of the present invention are:
Due to kinematics model designer-Che-road model using vehicle, when realizing transverse movement control in a model, The computation burden of controller is lower, and the real-time of vehicle motion control is greatly improved.The present invention considers driver It is pre- take aim at the driving performances such as effect, neuromuscular delay, steering gain, enable designed vehicle control device as people It drives, to improve the riding comfort of occupant.
Detailed description of the invention
Fig. 1 is vehicle-road kinematics model schematic diagram that the present invention considers the effect of driver's forward sight.
Fig. 2 is that the present invention is based on the people-Che of kinematics auto model-road model schematic block diagrams.
Specific embodiment
With reference to the accompanying drawings and detailed description, the present invention is furture elucidated, it should be understood that following specific embodiments are only For illustrating the present invention rather than limiting the scope of the invention.
The present invention proposes a kind of people-Che based on vehicle kinematics model-road model, for realizing that vehicle control device calculates Burden reduces, and improves controller real-time, enables the controller to drive as people, improve the riding comfort of occupant.
Present invention employs bi-coordinate systems, i.e. global coordinate system and vehicle body coordinate system.It, can in the case where ψ is low-angle Approximate processing, i.e. ψ=1 cos, sin ψ=ψ, tan ψ=ψ, according to vehicle kinematics situation point are carried out with the trigonometric function value to ψ Analysis, vehicle-road kinematics model can be expressed as.
In formula, lfAnd lrThe respectively distance of automobile front-axle and rear axle to vehicle centroid, VxIndicate the longitudinal velocity of vehicle, y It is the current lateral position of vehicle centroid, ydesIndicate vehicle centroid target position corresponding with current location on reference locus, ey=y-ydesIndicate the error between vehicle centroid current location and reference locus.δfFor vehicle front steering angle, ψ indicates vehicle The course angle of current location, ψdesIt is the vehicle centroid corner cut that the tangent line of corresponding position and X-axis are formed in reference path, eψ= ψ-ψdesIndicate the course deviation of corresponding position in vehicle and reference path.
Assuming that vehicular longitudinal velocity VxFor constant, front wheel steering angle δfIt is smaller, then the relational expression that the lateral deviation of vehicle moves can With approximate representation are as follows:
The present invention considers the steering characteristic of driver for the recycling in design vehicle controller, in vehicle-road mould Pilot model is introduced in type, pilot model indicates are as follows:
T in formulad、Tp、GhIt respectively indicates the delay time of driver, take aim at time and ratio of turning gain in advance.
For constant, RgFor the transmission ratio of steering system, the i.e. ratio of steering wheel angle and vehicle front corner.Driver couple When vehicle applies course changing control behavior, delay time is divided into two parts, i.e. Tdd1d2, wherein τd1Recognize to need for driver It redirect to and executes a reaction delay existing for go to action, meanwhile, when driver executes go to action, on arm also There can be a neuromuscular delay τd2;Driver is always proportional to input signal with the smallest workload output one Signal, i.e. ratio of turning gain, TpIndicate that the pre- of driver takes aim at the time, when longitudinal direction of car vehicle velocity VxWhen constant, driver's forward sight away from From for L=Vx*Tp, YpThat indicate is exactly the lateral position taken aim in advance at the vehicle front L in corresponded to reference path a little, y+TpVxψ Indicate driver according to the pre- vehicle location taken aim at after the time of current vehicle state estimation.
Discrete-time state variable-definition is x (k)=[x by the present invention1(k), x2(k), x3(k), x4(k), x5(k), x6 (k), x7(k)]T,
The input of people's bus or train route model isThen the state-space model of people's bus or train route model can be with It is described as
X (k+1)=Ax (k)+Buu(k)
In formula
Other symbol descriptions are the same.

Claims (1)

1. a kind of people-Che based on vehicle kinematics model-road model modelling approach, it is characterised in that: include the following steps:
(a) vehicle-road model based on vehicle kinematics model is established
In formula, lfAnd lrThe respectively distance of automobile front-axle and rear axle to vehicle centroid, VxIndicate the longitudinal velocity of vehicle, ey=y- ydesIndicate the error between vehicle centroid current location and reference locus, y is the current lateral position of vehicle centroid, ydesIt indicates Vehicle centroid target position corresponding with current location on reference locus;ψ indicates the course angle of current vehicle position, ψdesIt is The vehicle centroid corner cut that the tangent line of corresponding position and X-axis are formed in reference path, eψIndicate that vehicle is corresponding in reference path The course deviation of position;δfFor vehicle front steering angle,For front-wheel steer angular acceleration;
(b) in order to enable vehicle control device can drive as people, when modelling, considers pilot model
Wherein, Td、Tp、GhIt respectively indicates the delay time of driver, take aim at time and ratio of turning gain in advance;a0For constant, Rg For the transmission ratio of steering system, the i.e. ratio of steering wheel angle and vehicle front corner, GhFor ratio of turning gain;YpIt indicates Exactly take aim at lateral position a little, y+T at the vehicle front L in corresponded to reference path in advancepVxψ indicates driver according to working as front truck The pre- vehicle location taken aim at after the time of state estimation.
CN201910257785.3A 2019-04-01 2019-04-01 A kind of people-the Che based on vehicle kinematics model-road model modelling approach Pending CN110096748A (en)

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111688704A (en) * 2020-06-24 2020-09-22 吉林大学 Man-machine torque cooperative steering control method based on driving state prediction
CN112096852A (en) * 2020-09-27 2020-12-18 吉林大学 Method for designing gear shifting rule of automatic transmission with super-multi-gear
CN112319610A (en) * 2020-10-14 2021-02-05 华南理工大学 Man-machine sharing steering control method for intelligent automobile
CN113297685A (en) * 2021-07-27 2021-08-24 中汽研(天津)汽车工程研究院有限公司 Vehicle operation condition mode identification method

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111688704A (en) * 2020-06-24 2020-09-22 吉林大学 Man-machine torque cooperative steering control method based on driving state prediction
CN111688704B (en) * 2020-06-24 2021-05-25 吉林大学 Man-machine torque cooperative control method based on driving state prediction
CN112096852A (en) * 2020-09-27 2020-12-18 吉林大学 Method for designing gear shifting rule of automatic transmission with super-multi-gear
CN112096852B (en) * 2020-09-27 2021-05-25 吉林大学 Method for designing gear shifting rule of automatic transmission with super-multi-gear
CN112319610A (en) * 2020-10-14 2021-02-05 华南理工大学 Man-machine sharing steering control method for intelligent automobile
CN112319610B (en) * 2020-10-14 2021-11-19 华南理工大学 Man-machine sharing steering control method for intelligent automobile
CN113297685A (en) * 2021-07-27 2021-08-24 中汽研(天津)汽车工程研究院有限公司 Vehicle operation condition mode identification method

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