CN110239558A - A kind of driving style hierarchical fuzzy identifying system based on migration index - Google Patents
A kind of driving style hierarchical fuzzy identifying system based on migration index Download PDFInfo
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- CN110239558A CN110239558A CN201910373906.0A CN201910373906A CN110239558A CN 110239558 A CN110239558 A CN 110239558A CN 201910373906 A CN201910373906 A CN 201910373906A CN 110239558 A CN110239558 A CN 110239558A
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- 230000005012 migration Effects 0.000 title claims abstract description 36
- 238000013508 migration Methods 0.000 title claims abstract description 36
- 230000035939 shock Effects 0.000 claims abstract description 35
- 230000008859 change Effects 0.000 claims abstract description 22
- 238000006073 displacement reaction Methods 0.000 claims description 6
- 238000009795 derivation Methods 0.000 claims description 5
- 230000001133 acceleration Effects 0.000 description 7
- 239000010410 layer Substances 0.000 description 6
- 230000009471 action Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 238000012512 characterization method Methods 0.000 description 2
- 238000011217 control strategy Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
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- 239000002356 single layer Substances 0.000 description 1
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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
- B60W40/09—Driving style or behaviour
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- Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Mathematical Physics (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Regulating Braking Force (AREA)
- Traffic Control Systems (AREA)
Abstract
The driving style hierarchical fuzzy identifying system based on migration index that the invention discloses a kind of, module and identification module are solved including data acquisition module, migration index, real-time vehicle running data are obtained by data acquisition module, it is solved in module in migration index, vehicle impact degree function is defined by speed, then driving style migration index is defined by vehicle impact degree and power demand factor standard difference；In identification module, first layer fuzzy control is using accelerator pedal change rate mean value and brake pedal change rate mean value as input variable, shock extent is obscured as output variable, second layer fuzzy control is using shock extent difference and driving style migration index as input variable, respectively steadily and surely to spend, it is radical degree and with caution degree as output variable, classified to driving style and identified.The present invention considers power demand when defining driving style migration index, and the concept for introducing shock extent difference establishes the double-deck fuzzy control rule, improves driving style accuracy of identification.
Description
Technical field
The present invention relates to driving technology field, the driving style hierarchical fuzzy based on migration index that the invention discloses a kind of
Identifying system.
Background technique
During car steering, vehicle itself is used as main body, this factor of driver is also extremely important, and driver exists
Various differences such as gender, age and driving style, in same traffic environment, driver's driving style is not
Different driving status are presented with will lead to automobile.If driver can be carried out to the division and identification of different driving styles, and according to
Driving style drives to formulate more optimized control strategy and auxiliary, then drive safety and economy can be improved.And existing rank
The recognition methods majority of section, driver's driving style is single layer identification, is differentiated by the running data feature of vehicle, identification essence
It spends limited.
Summary of the invention
The driving style hierarchical fuzzy identifying system based on migration index that the purpose of the present invention is to provide a kind of, it is intended to right
Driving style is divided and is identified, driving style accuracy of identification is promoted.
To achieve the above object, the technical scheme is that
A kind of driving style hierarchical fuzzy identifying system based on migration index, including data acquisition module, migration index
Module and identification module are solved, the data acquisition module obtains real-time vehicle running data, and the migration index solves module
Driving style migration index is defined by vehicle impact degree and power demand factor standard difference, the identification module includes two layers of mould
Paste control, first layer fuzzy control be using accelerator pedal change rate mean value and brake pedal change rate mean value as input variable,
Fuzzy shock extent becomes as output variable, second layer fuzzy control using shock extent difference and driving style migration index as input
Amount, respectively steadily and surely to spend, it is radical degree and with caution degree as output variable, classified to driving style and identified.
Further, the vehicle operation data that the data acquisition module obtains includes: to obtain speed by vehicle speed sensor
V, brake pedal is obtained by brake pedal sensor and is displaced si, pass through accelerator pedal sensor obtain accelerator pedal be displaced sj。
Further, the vehicle impact degree is determined by shock extent function, and shock extent function is defined by speed v.
Further, the driving style migration indexWhereinKnowing for steady type driver
The average of the shock extent absolute value of affiliated operating condition, T represent the length of recognition cycle, X in the other periodiRepresent the impact at i moment
Degree, PsdIt is poor for demand power factor standard.
Further, the accelerator pedal change rate mean value is obtained by accelerator pedal displacement versus time derivation, and the braking is stepped on
Plate change rate mean value is obtained by brake pedal displacement versus time derivation.
Further, the shock extent difference is subtracted each other to obtain by vehicle impact degree and fuzzy shock extent.
The invention has the benefit that
The present invention defines driving style migration index using shock extent function and power demand factor standard difference, so that mould
Paste control identification is more accurate, using migration index and shock extent difference as the second fuzzy controller input variable, realizes to driving
The classification and identification of style, then combined with information of vehicles and road information, the reference parameter and vehicle as vehicle driving
The data source of security system formulates more optimized control strategy, to improve drive safety.Identifying system of the invention is suitable
Driver for different sexes, age and driving habit.
Detailed description of the invention
Fig. 1 is a kind of driving style hierarchical fuzzy identifying system figure based on migration index of the invention；
Fig. 2 is fuzzy domination structure schematic diagram of the invention.
Specific embodiment
Invention is further described in detail with reference to the accompanying drawings and detailed description.
It is as shown in Figure 1 a kind of driving style hierarchical fuzzy identifying system based on migration index of the invention, the system
Module and identification module are solved including data acquisition module, migration index.The data acquisition module is real-time for obtaining vehicle
Running data, comprising: speed v is obtained by vehicle speed sensor, obtains brake pedal displacement s by brake pedal sensori, it is logical
It crosses accelerator pedal sensor and obtains accelerator pedal displacement sj, s is displaced by brake pedaliBrake pedal change rate mean value a is obtained, is had
The formula of body are as follows:S is displaced by accelerator pedaljAccelerator pedal change rate mean value b is obtained, is had
The formula of body are as follows:The migration index solves module and defines vehicular impact by speed v
It spends function X (t), then passes through vehicle impact degree function and power demand factor standard difference PsdDefine driving style migration index R.Energy
The relevant parameter of characterization driving style is broadly divided into speed (the max speed, average speed, speed standard deviation etc.), acceleration (most
High acceleration, average acceleration, maximum deceleration etc.), shock extent (shock extent standard deviation, acceleration shock degree maximum value etc.), step on
Plate stroke (accelerator pedal change rate mean value, brake pedal change rate mean value, maximum accelerator travel etc.) and demand power
Five major class such as (demand power standard deviation, accelerate demand power coefficient average value), and shock extent speed, acceleration indicate,
Therefore driving style can be by shock extent, pedal opening and demand power come accurate characterization, using three above parameter as driving
The input variable of sailing lattice identifying system more comprehensively more can accurately differentiate driving style, detailed process are as follows:
In formula,For the average of steady type driver shock extent absolute value of affiliated operating condition in recognition cycle, T is to know
The length in other period, XiFor the shock extent at i moment, P is demand power, and M is complete vehicle quality, PsFor demand power coefficient.
The identification module includes double-deck fuzzy control system, first layer fuzzy control be with brake pedal change rate mean value a and
For accelerator pedal change rate mean value b as input variable, output variable is fuzzy shock extent, constructs the first fuzzy controller；Second
Layer fuzzy control using shock extent difference and driving style migration index R as input variable, respectively steadily and surely to spend, it is radical spend and
Degree is used as output variable with caution, constructs the second fuzzy controller, is classified to driving style and identified.
It is illustrated in figure 2 fuzzy domination structure schematic diagram of the invention, driving wind is carried out by Layered Fuzzy Controller
Lattice identification, first layer fuzzy control using brake pedal change rate mean value a and accelerator pedal change rate mean value b as input variable,
Fuzzy shock extent xmThe first fuzzy controller is established as output variable, fuzzy control rule is as shown in table 1:
1 first fuzzy controller fuzzy control rule table of table
The shock extent x and fuzzy shock extent x calculated by shock extent function X (t)mIt is poor to subtract each other to obtain shock extentAnd
It is poor with shock extentWith driving style migration index R as input variable, it is radical to be divided into driving style by fuzzy controller
Type, cautious style and steady type establish the second fuzzy controller as output variable, and fuzzy control rule is as shown in table 2；Wherein
Radical type style Characteristics of Drivers ' Behavior is acceleration behavior is fierce, speed is fast, braking action is urgent etc.；Steady type style Characteristics of Drivers ' Behavior
To accelerate behavior normal, speed well, braking action is normal etc.；Cautious style Characteristics of Drivers ' Behavior is that acceleration behavior is slow, and speed is slow,
Braking action slowly etc..
2 second fuzzy controller fuzzy control rule table of table
In terms of promoting security performance, driving style identifying system has obvious action to driving assistance system, wherein driving
Sailing auxiliary system includes: spacing early warning system, Lane Departure Warning System and brake auxiliary system etc..
1. being directed to the design of spacing early warning system
For the different threshold value of warning of different driving style setting spacing early warning systems, for cautious style driver, in advance
Alert threshold value inter-vehicular time is 1.5 seconds；For steady type driver, threshold value of warning inter-vehicular time is 2.0 seconds；Radical type is driven
Member, threshold value of warning inter-vehicular time are 2.0 seconds.Driving style identifying system is identified that driving style inputs spacing early warning system,
Choose corresponding threshold value.Spacing early warning system is differentiated according to this threshold value of warning, when inter-vehicular time is less than or equal to threshold value of warning
When, spacing early warning system issues warning alert.Wherein inter-vehicular time is indicated with t, and t is obtained by vehicle headway divided by two vehicle relative velocities
Out, warning alert includes: that buzzer audible alarm and display show spacing early warning mark etc..
2. being directed to the design of deviation system
Starting speed and execution early warning actuation time for different driving style setting deviation systems, for careful
Careful type driver, starting speed is 50km/h, and when turn signal is not switched on, 0.5s executes early warning movement before deviation occurs；
For steady type driver, starting speed is 55km/h, and when turn signal is not switched on, 0.55s is executed in advance before deviation occurs
Alert movement；For radical type driver: starting speed is 60km/h, and when turn signal is not switched on, 0.6s before deviation occurs
Execute early warning movement.Driving style identifying system is identified that driving style inputs deviation system, when deviation system
When judging that vehicle generates off-set phenomenon, it is corresponding with the execution of early warning actuation time is executed to start speed according to different deviation systems
Early warning movement, wherein early warning movement includes: audible alarm, seat or turn to disc vibration and display display deviate mark
Deng.
3. being directed to the design of Emergency Brake Assist System
For the different operation threshold of different driving style setting Emergency Brake Assist System, cautious style is driven
Member, operation threshold brake-pedal travel change rate are 12 °/s；For cautious style driver, operation threshold brake-pedal travel becomes
Rate is 15 °/s；For cautious style driver, operation threshold brake-pedal travel change rate is 18 °/s.Driving style is identified
System identification goes out driving style input Emergency Brake Assist System, chooses corresponding threshold value, Emergency Brake Assist System is according to this
Operation threshold is differentiated that, when brake-pedal travel change rate is greater than operation threshold, HBA (hydraulic braking auxiliary system) is acted as
With；Wherein brake-pedal travel change rate can obtain brake-pedal travel derivation.
Above-mentioned, although the foregoing specific embodiments of the present invention is described with reference to the accompanying drawings, not protects model to the present invention
The limitation enclosed, those skilled in the art should understand that, based on the technical solutions of the present invention, those skilled in the art are not
Need to make the creative labor the various modifications or changes that can be made still within protection scope of the present invention.
Claims (6)
1. a kind of driving style hierarchical fuzzy identifying system based on migration index, which is characterized in that including data acquisition module,
Migration index solves module and identification module, and the data acquisition module obtains real-time vehicle running data, the migration index
It solves module and driving style migration index, the identification module packet is defined by vehicle impact degree and power demand factor standard difference
Containing double-deck fuzzy control system, first layer fuzzy control is using accelerator pedal change rate mean value and brake pedal change rate mean value as defeated
Enter variable, obscures shock extent as output variable, second layer fuzzy control is made with shock extent difference and driving style migration index
For input variable, respectively steadily and surely to spend, radical degree and degree is classified to driving style and known as output variable with caution
Not.
2. a kind of driving style hierarchical fuzzy identifying system based on migration index according to claim 1, feature exist
In the vehicle operation data that the data acquisition module obtains includes: to obtain speed v by vehicle speed sensor, stepped on by braking
Plate sensor obtains brake pedal and is displaced si, pass through accelerator pedal sensor obtain accelerator pedal be displaced sj。
3. a kind of driving style hierarchical fuzzy identifying system based on migration index according to claim 1 or 2, feature
It is, the vehicle impact degree is determined by shock extent function, and shock extent function is defined by speed v.
4. a kind of driving style hierarchical fuzzy identifying system based on migration index according to claim 1, feature exist
In the driving style migration index
WhereinFor the average of steady type driver shock extent absolute value of affiliated operating condition in recognition cycle, T represents recognition cycle
Length, XiRepresent the shock extent at i moment, PsdIt is poor for demand power factor standard.
5. a kind of driving style hierarchical fuzzy identifying system based on migration index according to claim 1 or 2, feature
It is, the accelerator pedal change rate mean value is obtained by accelerator pedal displacement versus time derivation, and the brake pedal change rate is equal
Value is obtained by brake pedal displacement versus time derivation.
6. a kind of driving style hierarchical fuzzy identifying system based on migration index according to claim 1, feature exist
In the shock extent difference is subtracted each other to obtain by vehicle impact degree and fuzzy shock extent.
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Cited By (6)
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| CN111152665A (en) * | 2020-01-08 | 2020-05-15 | 吉林大学 | Pure electric vehicle AMT gear shifting process control method based on driving style recognition |
| CN113022578A (en) * | 2021-04-02 | 2021-06-25 | 中国第一汽车股份有限公司 | Passenger reminding method and system based on vehicle motion information, vehicle and storage medium |
| CN113022577A (en) * | 2021-04-02 | 2021-06-25 | 中国第一汽车股份有限公司 | Driving mode switching method and device, vehicle and storage medium |
| CN113044046A (en) * | 2021-04-09 | 2021-06-29 | 联合汽车电子有限公司 | Driver style recognition method, system, electronic device and readable storage medium |
| CN115230725A (en) * | 2021-08-20 | 2022-10-25 | 广州汽车集团股份有限公司 | Driving assistance system control method and device |
| CN116101303A (en) * | 2023-04-07 | 2023-05-12 | 成都理工大学工程技术学院 | Vehicle driving assisting method, system, device and storage medium |
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Effective date of registration: 20231213 Address after: Room 503, Office Building 2, Zone C, Kaifu Wanda Plaza, No. 589 Zhongshan Road, Tongtai Street, Kaifu District, Changsha City, Hunan Province, 410000 Patentee after: Hunan Hippo Digital Technology Co.,Ltd. Address before: 230000 floor 1, building 2, phase I, e-commerce Park, Jinggang Road, Shushan Economic Development Zone, Hefei City, Anhui Province Patentee before: Dragon totem Technology (Hefei) Co.,Ltd. Effective date of registration: 20231213 Address after: 230000 floor 1, building 2, phase I, e-commerce Park, Jinggang Road, Shushan Economic Development Zone, Hefei City, Anhui Province Patentee after: Dragon totem Technology (Hefei) Co.,Ltd. Address before: Zhenjiang City, Jiangsu Province, 212013 Jingkou District Road No. 301 Patentee before: JIANGSU University |