WO2016045365A1 - 一种含有驾驶员模型的智能驾驶系统 - Google Patents

一种含有驾驶员模型的智能驾驶系统 Download PDF

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Publication number
WO2016045365A1
WO2016045365A1 PCT/CN2015/076612 CN2015076612W WO2016045365A1 WO 2016045365 A1 WO2016045365 A1 WO 2016045365A1 CN 2015076612 W CN2015076612 W CN 2015076612W WO 2016045365 A1 WO2016045365 A1 WO 2016045365A1
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vehicle
driver
road
module
driving
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PCT/CN2015/076612
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English (en)
French (fr)
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席军强
王文硕
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北京理工大学
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Priority to US15/512,987 priority Critical patent/US10286900B2/en
Publication of WO2016045365A1 publication Critical patent/WO2016045365A1/zh

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Definitions

  • the present invention relates to the field of automobiles, and in particular to an intelligent driving system, a vehicle, and a vehicle driving method including a driver model.
  • driver assistance systems are widely used in automotive control areas, such as anti-lock Braking System (ABS), electronic power steering (EPS, Electric). Power Steering), Traction Control System (TCS, Traction Control System), etc.
  • ABS anti-lock Braking System
  • EPS electronic power steering
  • TCS Traction Control System
  • the setting parameters of most automotive electronic control systems are fixed, and the design of automotive electronic control systems is usually from the perspective of vehicle dynamics, ignoring the role of the driver when driving the vehicle, it cannot be detected.
  • the driver's operational intent and driving needs are less able to satisfy each driver's driving preferences (such as power, comfort and safety).
  • the performance requirements of the different drivers are different when the curve passes, as the turning radius is different.
  • some drivers hope to bias the vehicle through the curve, so it is necessary to increase the adhesion between the tire and the ground, that is, to increase the damping of the suspension, thereby improving the handling of the vehicle;
  • the player hopes to bias the comfort of the vehicle when cornering, and thus needs to reduce the suspension damping of the vehicle, thereby improving the comfort of the vehicle.
  • the current suspension system (including active suspension and semi-active suspension) can cope with complex road surfaces and provide vehicle comfort and passability, it cannot increase or decrease the suspension system of the vehicle according to the driver's driving personality requirements. Stiffness, and neglecting the different needs of different drivers for the suspension system (eg, under the same road conditions, the young driver prefers to pass, that is, the suspension damping needs to be improved; while the older driver prefers comfort, That is, it is necessary to reduce the suspension damping).
  • the present invention aims to provide an intelligent driving system containing a driver model. It can adjust the performance of the vehicle according to different driving preferences of the driver.
  • an intelligent driving system including a driver model
  • the system including a driver model module that adjusts performance of the vehicle based on driver's driving characteristics and road environment information .
  • the driver's driving characteristics include the driver's driving preference (such as biased towards vehicle comfort or power, biased towards caring or lane changing behavior, etc.)
  • the road environment information includes visual information related to the driver's operation of the vehicle, for example The adhesion coefficient of the road surface, the width and curvature of the road, the slope of the road, and the traffic flow of the road.
  • an intelligent driving system including a driver model
  • the system comprising: a road environment detecting module, a driver operation detecting module, a vehicle system module, and a driver model module;
  • the road environment detecting module is configured to detect road environment information, wherein the road environment information includes visual information related to the driver operating the vehicle, such as an adhesion coefficient of the road surface, a width and a radius of the road, a slope of the road, and a traffic flow of the road;
  • the driver operation detecting module is configured to detect driver operation data including tactile information related to the driver operating the vehicle, such as a feedback torque of the steering wheel, operations on the brake/accelerator pedal, the clutch, the transmission, and the like; a vehicle system module for outputting a motion parameter of the vehicle; the driver model module collecting road environment information detected by the road environment detecting module, driver operating data detected by the driver operation detecting module, and The motion of the vehicle output by the vehicle system module And obtaining a desired parameter value required for driving by analyzing the road environment
  • a vehicle including the aforementioned intelligent driving system is provided.
  • a vehicle driving method which employs the aforementioned intelligent driving system in driving a vehicle.
  • the driver's "road sense” (visual and tactile information) can be taken into account during the driving of the vehicle, the driver model is established, and the driver model is used to identify and predict the driving. Operational intent and driving needs, and based on the identification And predicting the results, making reasonable real-time modifications to the corresponding parameters of the electronic control system, so that the performance of the vehicle can meet the individual needs and safety requirements of the driver, and realize the seamless cooperation function between “people and vehicles” to adjust the performance of the vehicle.
  • vehicle adaptation to people to people.
  • FIG. 1 is a block diagram showing the structure of an intelligent driving system including a driver model according to an embodiment of the present invention
  • FIGS. 2a and 2b are schematic views showing the installation of a road environment detecting device according to the present invention.
  • FIG. 3 is a control flow diagram of a smart suspension system in accordance with one embodiment of the present invention.
  • the present invention proposes a smart driving with two characteristics of "recognition and prediction” and "adaptive”. system.
  • the intelligent driving system not only has the function of “recognizing” the driver's driving characteristics, but also has the function of “adaptive” to predict the driving intention and meet the individual needs of the driver, thereby reducing the driver's driving operation intensity and fatigue level, thereby improving The driver's driving safety and comfort performance reduce traffic accidents.
  • an intelligent driving system in accordance with the present invention includes a driver model module that can adjust the performance of the vehicle based on driver's driving characteristics and road environment information.
  • the driver's driving characteristics include the driver's driving preferences, such as age, drunkenness, physical fatigue, speed of reaction, and the like.
  • the road environment information includes visual information such as the adhesion coefficient of the road surface, the width and curvature of the road, the slope of the road, and the traffic flow of the road.
  • an intelligent driving system includes a road environment detecting module, a driver operation detecting module, a vehicle system module, and a driver model module.
  • the road environment detecting module is configured to detect road environment information, and the road environment detecting module may include Including a ranging radar and a camera, the road environment information includes visual information related to the driver operating the vehicle;
  • the driver operation detecting module is configured to detect driver operation data, the driver operation data including tactile information related to the driver operating the vehicle , such as operational parameter data for the steering wheel, brake pedal, accelerator pedal, clutch, and transmission; a vehicle system module for outputting vehicle motion parameters, such as vehicle speed, longitudinal acceleration, and yaw rate;
  • the driver model module Collecting road environment information detected by the road environment detecting module, driver operating data detected by the driver operation detecting module, and motion parameters of the vehicle output by the vehicle system module, by analyzing the road environment information And obtaining, by the motion parameter of the vehicle, a desired parameter value required for driving, obtaining a driving characteristic of the driver by
  • the vehicle according to the present invention includes the above-described intelligent driving system including a driver model. According to the vehicle driving method of the present invention, the above intelligent driving system is also employed.
  • an intelligent driving system including a driver model includes: a road environment detecting module 1, a driver operation detecting module 2, a vehicle system module 3, a driver module 4, and a driver model. Module 5.
  • the road environment detecting module 1 is configured to collect road environment information in real time and output related data, wherein the road environment information includes visual information such as road surface adhesion coefficient, road curvature, road width, slope of the road, and traffic flow. Then, the road environment detecting module 1 can output the road surface adhesion coefficient parameter for the road surface adhesion coefficient of the road, the curvature parameter of the road for the curvature of the road, the width parameter of the road for the width of the road, the slope parameter of the road for the slope of the road, The density parameter of the vehicle is output for the flow of the road.
  • the road environment information includes visual information such as road surface adhesion coefficient, road curvature, road width, slope of the road, and traffic flow.
  • the road environment detecting module 1 may include a ranging radar and a camera, and those skilled in the art may collect road environment information around the vehicle through the ranging radar and the camera.
  • the ranging radar is preferably a millimeter wave ranging radar
  • the camera is preferably a high definition camera. Multiple millimeter-wave ranging radars can be installed on the front and left and right sides of the car. High-definition cameras can be mounted on the top of the vehicle.
  • the road environment information collected by the road environment detecting module 1 is input to the driver model module 5.
  • a person skilled in the art can also install a ranging radar or a camera at the rear of the vehicle to collect road environment information at the rear of the vehicle.
  • the road environment detecting module 1 may further include a weather collector, such as parameters for collecting specific weather such as rain or snow.
  • the road environment detecting module 1 may further include a temperature sensor.
  • the above collection process can be implemented in an intelligent acquisition mode, but can also be performed by a manually input acquisition method.
  • the driver Since the driver usually performs driving operations according to changes in the environment, collecting the road environment information of the vehicle is an important part of implementing the intelligent driving system, so as to drive the road environment information obtained by sensing the road environment.
  • the process is optimized for the purpose.
  • the main function of the driver operation detecting module 2 is to detect driver operation data, the driving
  • the driver operating data includes tactile information such as operating parameter data for the steering wheel, brake/accelerator pedal, clutch, and transmission.
  • the influence of the road factor on the driver can be integrated by the driver's visual information and tactile information, that is, the driver's "road feeling.”
  • the driver's visual information and tactile information that is, the driver's "road feeling.”
  • most models use the road curvature as the road parameter input of the driver model, ignoring the driver's operation factor, which has great limitations on the accurate collection of road conditions, such as smoothness.
  • the ground, the undulating road surface, etc. have different effects on the driver. Changes in these factors will also result in changes in the driver's driving experience.
  • the driver operation detecting module 2 in the embodiment of the present invention includes: a steering wheel angle sensor, a steering wheel torque sensor, a steering wheel grip force sensor, a brake pedal displacement sensor, an accelerator pedal displacement sensor, and a shifting force sensor.
  • the sensor detects the driver's tactile information corresponding thereto and feeds the collected tactile information to the driver model module 5.
  • the vehicle system module 3 is responsive to driver operations (eg, shifting, braking/accelerating, steering, etc.) to control vehicle motion and output vehicle motion parameters (eg, vehicle speed, longitudinal acceleration, yaw rate) to the driver Model module 5.
  • driver operations eg, shifting, braking/accelerating, steering, etc.
  • vehicle motion parameters eg, vehicle speed, longitudinal acceleration, yaw rate
  • the vehicle system includes an engine, a transmission system, a driving system, a steering system, a braking system, and a sensor.
  • the sensors in the vehicle system mainly include a vehicle speed sensor, a yaw rate sensor, a longitudinal acceleration sensor, and a lateral acceleration sensor.
  • the driver module 4 directly accepts the driver's operation to control the running of the vehicle.
  • the driver module 4 includes a steering wheel, a brake pedal, an accelerator pedal, a clutch, a transmission, and the like.
  • the driver model module 5 collects data output by the road environment detecting module 1, the driver operation detecting module 2, and the vehicle system module 3, and identifies and predicts the above data, obtains driver's driving intention and driving characteristics, and outputs " Expected parameter values or "driving characteristics" provide a basis for changes in vehicle parameters.
  • the road curvature radius ⁇ is acquired by the road environment detecting module 1; the driver operation detecting module 2 detects the steering wheel angle applied by the driver to the steering wheel, that is, the actual steering wheel angle ⁇ s ; the vehicle system module 3 detects the longitudinal speed of the vehicle v x .
  • the desired steering wheel angle ⁇ sr in the driver model module 5 that is, the ideal steering wheel angle
  • L is the wheelbase
  • i s is the steering ratio
  • K is the vehicle stability factor
  • v x is the vehicle longitudinal speed
  • ⁇ is the road curvature radius
  • the driver module 4 directly controls the vehicle by sensing vehicle motion and driving environment.
  • the parameters output by the driver module 4 and the driver model module 5 are sent to an ECU (Electronic Control Unit) for calculation, and part of the parameters of the vehicle are adjusted according to the calculation result, thereby adjusting the vehicle.
  • ECU Electronic Control Unit
  • the calculation electronic control unit compares the actual steering wheel angle ⁇ s with the desired steering wheel angle ⁇ sr . It indicates that the driver expects that the tire of the vehicle and the contact ground should have high adhesion, and hope to pass the curve quickly. At this time, the suspension damping parameter needs to be increased; It indicates that the driver expects the vehicle to have better comfort when passing the curve. At this time, the suspension damping needs to be reduced to meet the driver's individual driving demand; if
  • ⁇ ⁇ indicates that the driver wants the vehicle to pass through the curve and balance the comfort and comfort. At this time, the suspension damping is adjusted to an intermediate value. Where ⁇ is the set threshold.
  • the driver's desired vehicle performance can be identified in other scenes than the vehicle is bent, and the vehicle parameters are modified according to the driver's preference, so that the vehicle performance satisfies the driving.
  • the driver's driving needs achieve the goal of "vehicle adapting to people".
  • all data processing modules can be processed by the ECU, wherein the frequency of the preferred data acquisition processing is 50 Hz.
  • the visual and tactile information of the driver is comprehensively considered, and the visual, tactile information and the motion parameters of the vehicle are used as inputs of the driver model, and the driver model is combined with the vehicle control system through the driver model.
  • the input information (visual information, tactile information, and vehicle motion parameters, etc.) is processed to identify and predict driver behavior.
  • the vehicle control system parameters are adjusted and modified in real time according to the "driver's expectation value" output by the driver model, so that the performance of the vehicle changes according to the change of the driver's characteristics, and the vehicle performance is more in line with the driver's driving behavior characteristics. Meet the driver's driving needs, reduce the driver's operating intensity, and reduce the occurrence of traffic accidents.
  • a driving method of a vehicle comprising the following steps:
  • L is the wheelbase
  • i s is the steering ratio
  • K is the vehicle stability coefficient
  • v x is the longitudinal speed of the vehicle
  • ⁇ is the radius of curvature of the road.
  • the intelligent assisted driving system includes a driver model module that recognizes predicted driving behavior, and the driver model comprehensively considers visual and tactile factors as "road sense" information of the driver, so that the driver model can identify and predict the driver.
  • the behavioral characteristics and driving requirements in turn, the vehicle control system parameters are adjusted and corrected in real time, so that the performance of the vehicle is more in line with the driver's driving characteristics, meet the driver's safe driving needs and individual needs, and reduce the driver's operational intensity. Improve driver's driving comfort and reduce traffic accidents.
  • the driver's “road sense” (visual and tactile information) can be taken into account, the driver model is established, and the driver is identified and predicted by the driver model.
  • the corresponding parameters of the vehicle control system are reasonably modified in real time, so that the performance of the vehicle meets the driver's individual needs and safety requirements, and the realization of "human-car”
  • the seamless cooperation function achieves the control objective of “vehicle adaptation”, so that the vehicle control system has two functions of “recognition” and “adaptation” at the same time.
  • the driver model in this system can also add the driver's physiological characteristic parameters (such as age, drunkenness, physical fatigue, reaction speed, etc.) and psychological characteristic parameters on the one hand. (eg driver's nervousness, driver's emotional stability, etc.), on the other hand, its application can also be applied to real-time correction of system parameters such as engine, clutch, transmission and brake system to achieve "vehicle adaptation" control aims.
  • driver's physiological characteristic parameters such as age, drunkenness, physical fatigue, reaction speed, etc.
  • psychological characteristic parameters eg driver's nervousness, driver's emotional stability, etc.
  • its application can also be applied to real-time correction of system parameters such as engine, clutch, transmission and brake system to achieve "vehicle adaptation" control aims.

Abstract

一种含有驾驶员模型的智能驾驶系统，包括驾驶员模型模块（5），根据驾驶员的驾驶特征和道路环境信息调节车辆的性能。在驾驶车辆的过程当中能够将驾驶员的视觉和触觉信息考虑在内，从而调整车辆的性能，达到车辆适应人的控制目的。

Description

一种含有驾驶员模型的智能驾驶系统 技术领域
本发明涉及汽车领域，具体而言涉及一种含有驾驶员模型的智能驾驶系统、车辆以及车辆驾驶方法。
背景技术
随着汽车电子技术的快速发展，各种各样的辅助驾驶系统被广泛地应用到汽车的控制领域，比如防抱死系统(ABS，Anti-lock Braking System)、电子助力转向系统(EPS，Electric Power Steering)、牵引力控制系统(TCS，Traction Control System)等。但是，由于大多数的汽车电子控制系统的设置参数是固定不变的，并且汽车电子控制系统的设计通常是从汽车动力学角度出发，而忽略了驾驶员在驾驶车辆时的作用，因此无法检测驾驶员的操作意图和驾驶需求，更不能满足每个驾驶员的驾驶偏好(如动力性、舒适性和安全性)。
例如，当驾驶员在弯道行驶的情况下，随着转弯半径的不同，不同驾驶员在弯道通过时对车辆的性能要求也不一样。具体而言，有的驾驶员希望通过弯道时偏向于车辆通过性，因而需要增加车辆轮胎与地面之间的附着力，即需要增加悬架的阻尼，进而提高车辆的操控性；有的驾驶员希望通过弯道时偏向于车辆的舒适性，因而需要减小车辆悬架阻尼，进而提高车辆的舒适性。
虽然目前的悬架系统(包括主动悬架和半主动悬架)能够应对复杂路面，提供车辆的舒适性和通过性，但是不能够根据驾驶员的驾驶个性需求增加或减小车辆的悬架系统的刚度，并且忽略了不同驾驶员对悬架系统的不同需求(如，在同样的道路条件下，年轻驾驶员偏向于通过性，即需提高悬架阻尼；而老年驾驶员偏向于舒适性，即需要降低悬架阻尼)。
发明内容
基于上述问题，本发明旨在提供一种含有驾驶员模型的智能驾驶系 统，其能够根据驾驶员的不同驾驶偏好，调节车辆的性能。
根据本发明的一个方面，提供了一种含有驾驶员模型的智能驾驶系统，该系统包括驾驶员模型模块，所述驾驶员模型模块根据驾驶员的驾驶特征和道路环境信息调节所述车辆的性能。其中，驾驶员的驾驶特征包括驾驶员的驾驶偏好(如偏于车辆舒适性或动力性，偏于跟驰或换道行为等)，道路环境信息包括与驾驶员操作车辆有关的视觉信息，例如路面的附着系数、道路的宽度和曲率、道路的坡度以及道路的交通流量等。
根据本发明的另一个方面，提供了一种含有驾驶员模型的智能驾驶系统，该系统包括：道路环境检测模块、驾驶员操作检测模块、整车系统模块和驾驶员模型模块；其中，所述道路环境检测模块用于检测道路环境信息，其中道路环境信息包括与驾驶员操作车辆有关的视觉信息，例如路面的附着系数、道路的宽度和半径、道路的坡度以及道路的交通流量等；所述驾驶员操作检测模块用于检测驾驶员操作数据，所述驾驶员操作数据包括与驾驶员操作车辆有关的触觉信息，比如方向盘的反馈力矩、对制动/加速踏板、离合器以及变速器等的操作；整车系统模块，用于输出车辆的运动参数；所述驾驶员模型模块，收集所述道路环境检测模块所检测的道路环境信息、所述驾驶员操作检测模块所检测的驾驶员操作数据以及所述整车系统模块所输出的车辆的运动参数，通过分析所述道路环境信息以及所述车辆的运动参数获得驾驶所需的期望参数值，通过分析所述驾驶员操作数据获得驾驶员的驾驶特征，通过比较所述期望参数值和所述驾驶员的驾驶特征得出所述驾驶员对车辆性能的需求，并依据所述需求调节车辆相应的参数。
根据本发明的又一个方面，提供了一种车辆，所述车辆包括前述的智能驾驶系统。
根据本发明的再一个方面，提供一种车辆驾驶方法，所述方法在驾驶车辆中采用前述的智能驾驶系统。
通过应用本发明的系统和方法，在驾驶车辆的过程当中，能够将驾驶员的“路感”(视觉和触觉信息)考虑在内，建立驾驶员模型，并通过驾驶员模型来识别、预测驾驶员的操作意图和驾驶需求，并根据该识别 和预测结果，对电子控制系统的相应参数做合理的实时修改，使车辆的性能满足驾驶员的个性需求以及安全需求，实现“人—车”之间的无缝协作功能，从而调整车辆的性能，达到“车辆适应人”的控制目的。
附图说明
图1为根据本发明一个实施例的一种含有驾驶员模型的智能驾驶系统的结构框图；
图2a和2b为根据本发明的道路环境检测设备安装的示意图；
图3为根据本发明一个实施例的智能悬架系统的控制流程图。
具体实施方式
为了对本发明进行更好地说明，下面结合附图对本发明的具体实施方式进行进一步地阐述。然而，下述具体实施方式仅仅是本发明优选技术方案的举例，其并不能够理解为对本发明保护范围的限制。
针对于现有的车辆控制系统的不足，即现有车辆控制系统不能够适应驾驶员的个性或需求，本发明提出了一种具有“识别与预测”和“自适应”两大特征的智能驾驶系统。该智能驾驶系统不仅具有“识别”驾驶员驾驶特征的功能，而且具有“自适应”的功能，以预测驾驶意图并满足驾驶员的个性需求，降低驾驶员的驾驶操作强度和疲劳程度，进而提高驾驶员驾驶的安全性能和舒适性能，减少交通事故的发生。
在一种实施方式中，根据本发明的智能驾驶系统包括驾驶员模型模块，该模块可以根据驾驶员的驾驶特征和道路环境信息调节所述车辆的性能。这里，驾驶员的驾驶特征包括驾驶员的驾驶偏好，比如年龄大小、醉酒情况、身体疲劳程度、反应的快慢等。道路环境信息包括如路面的附着系数、道路的宽度和曲率、道路的坡度以及道路的交通流量等的视觉信息。
在另一种实施方式中，根据本发明的智能驾驶系统包括道路环境检测模块、驾驶员操作检测模块、整车系统模块和驾驶员模型模块。其中，道路环境检测模块用于检测道路环境信息，该道路环境检测模块可以包 括测距雷达和摄像机，道路环境信息包括与驾驶员操作车辆有关的视觉信息；驾驶员操作检测模块用于检测驾驶员操作数据，所述驾驶员操作数据包括与驾驶员操作车辆有关的触觉信息，比如对方向盘、制动踏板、加速踏板、离合器以及变速器的操作参数数据；整车系统模块，用于输出车辆的运动参数，例如车速、纵向加速度和横摆角速度；所述驾驶员模型模块，收集所述道路环境检测模块所检测的道路环境信息、所述驾驶员操作检测模块所检测的驾驶员操作数据以及所述整车系统模块所输出的车辆的运动参数，通过分析所述道路环境信息以及所述车辆的运动参数获得驾驶所需的期望参数值，通过分析所述驾驶员操作数据获得驾驶员的驾驶特征，通过比较所述期望参数值和所述驾驶员的驾驶特征得出所述驾驶员对车辆性能的需求，并依据所述需求调节车辆相应的参数。进一步地，该系统还可以包括驾驶员模块，所述驾驶员模块用于根据所述驾驶员的操作改变所述车辆的运动状态。
此外，根据本发明的车辆，包括上述含有驾驶员模型的智能驾驶系统。根据本发明的车辆驾驶方法，也采用了上述智能驾驶系统。
在以下具体实施例中，对根据本发明的含有驾驶员模型的智能驾驶系统及方法进行了详细说明。
实施例一
如图1所示，本发明实施例的一种含有驾驶员模型的智能驾驶系统包括：道路环境检测模块1，驾驶员操作检测模块2、整车系统模块3、驾驶员模块4和驾驶员模型模块5。
具体而言，道路环境检测模块1用于实时地采集道路环境信息并输出相关数据，其中，道路环境信息包括视觉信息，例如路面附着系数、道路曲率、道路宽度、道路的坡度以及交通流量等。于是，道路环境检测模块1可以针对道路的路面附着系数输出路面附着系数参数、针对道路的曲率输出道路的曲率参数、针对道路的宽度输出道路的宽度参数、针对道路的坡度输出道路的坡度参数、针对道路的流量输出车辆的密度参数。
一般地，道路环境检测模块1可以包括测距雷达和摄像机，本领域技术人员通过测距雷达和摄像机可以采集车辆周围的道路环境信息。所述测距雷达优选为毫米波测距雷达，所述摄像机优选为高清晰摄像机。在汽车前部和左右两侧可以分别安装多个毫米波测距雷达，高清晰摄像机可以安装在车辆顶部。由道路环境检测模块1采集到的道路环境信息被输入到驾驶员模型模块5。此外，根据实际需要，本领域技术人员还可以在车辆的后部安装测距雷达或摄像机，以采集车辆后部的道路环境信息。
进一步地，道路环境检测模块1还可以包括天气采集器，例如采集雨、雪等特定天气的参数。可选地，道路环境检测模块1还可以包括温度传感器。上述采集过程可以智能的采集方式实现，但是也可以人工输入的采集方式来进行。
由于驾驶员通常依据环境的变化来进行驾驶操作，因此，对车辆的道路环境信息进行采集是实现智能驾驶系统的一个重要环节，以便通过对道路环境的感测所获得的道路环境信息来对驾驶过程进行有针对性的优化。
以车辆进入弯道的情况为例。通常，年轻的驾驶员倾向于驾驶的操控性，而年长的驾驶员倾向于驾驶的舒适性。也就是说，不同的驾驶人员在弯道对车辆的操控有不同的要求。于是，判断车辆是否进入了弯道是满足不同驾驶者需求的第一步。在弯道中，如图2a和2b所示：车辆行驶速度为v,通过车辆两侧安装的雷达检测车辆与道路两侧之间的距离d1、d2、d3和d4来确定车辆与道路之间的相对位置；通过车辆顶端安装的摄像机C，检测道路前方道路不通的点与摄像机之间的距离L1、L2和L3计算前方道路的曲率半径ρ(t)。进一步地，通过检测当前t时刻的道路曲率半径ρ(t)，判断车辆是否将进入弯道，即判断ρ(t)＝∞是否成立。如ρ(t)＝∞成立，则说明车辆处于直线行驶状态中，继续检测t+Δt时刻的道路曲率半径ρ(t+Δt)；若ρ(t)＝∞不成立，即ρ(t)＜∞，则说明车辆将要处于或正处于弯道行驶当中。
驾驶员操作检测模块2的主要作用在于检测驾驶员操作数据，该驾 驶员操作数据包括触觉信息，例如对方向盘、制动/加速踏板、离合器以及变速器等的操作参数数据。
道路因素对于驾驶员的影响可由驾驶员的视觉信息和触觉信息综合而成，即驾驶员的“路感”。然而，在现有的驾驶员模型中，大多数模型将道路曲率作为驾驶员模型的道路参数输入，而忽略了驾驶员操作的因素，这对准确采集路况环境有较大的局限性，例如光滑的地面、起伏较大的路面等，对于驾驶员的影响是不同的。而这些因素的变化也将产生驾驶员驾驶操作的变化。
本发明实施例中的驾驶员操作检测模块2包括：方向盘转角传感器、方向盘转矩传感器、方向盘握力传感器、制动踏板位移传感器、加速踏板位移传感器以及换挡力传感器。上述传感器检测与之对应的驾驶员的触觉信息，并将采集到的触觉信息反馈给驾驶员模型模块5。
整车系统模块3用于响应驾驶员的操作(如换挡、制动/加速、转向等)以控制车辆的运动，并且输出车辆运动参数(例如车速、纵向加速度、横摆角速度)至驾驶员模型模块5。
整车系统包括发动机、传动系统、行驶系统、转向系统、制动系统以及传感器，该整车系统中的传感器主要包括车速传感器、横摆角速度传感器、纵向加速度传感器和侧向加速度传感器。
其中，驾驶员模块4直接接受驾驶员的操作，以控制车辆的行驶。驾驶员模块4包括方向盘、制动踏板、加速踏板、离合器、变速器等。
驾驶员模型模块5收集道路环境检测模块1、驾驶员操作检测模块2和整车系统模块3输出的数据，并对上述数据进行识别和预测，获得驾驶员的驾驶意图和驾驶特征，并输出“期望参数值”或“驾驶特征”，为车辆参数的改变提供依据。
以通过弯道的情景需要对悬架性能进行调整为例。在t时刻，通过道路环境检测模块1获取道路曲率半径ρ；驾驶员操作检测模块2检测驾驶员对方向盘施加的方向盘转角，即实际方向盘转角δs；整车系统模块3检测车辆的纵向速度vx。在驾驶员模型模块5中计算出期望的方向盘转角δsr，即理想的方向盘转角，其中
Figure PCTCN2015076612-appb-000001
其中，L为轴距，is为转向比，K为车辆稳定性系数，vx为车辆纵向速度，ρ为道路曲率半径。
同时，驾驶员模块4通过感知车辆运动和驾驶环境对车辆进行直接控制。
进一步地，通过将所述驾驶员模块4与所述驾驶员模型模块5输出的参数输送到ECU(电子控制单元，Electronic Control Unit)进行计算，根据计算结果调节车辆的部分参数，进而达到调节车辆性能的目的。
同样以车辆过弯的场景为例，计算电子控制单元对实际方向盘转角δs与期望的方向盘转角δsr进行比较，若
Figure PCTCN2015076612-appb-000002
则表明该驾驶员期望该车辆的轮胎和接触地面应有较高的附着力，并希望快速通过该弯道，此时，则需将悬架阻尼参数增大；若
Figure PCTCN2015076612-appb-000003
则表明该驾驶员期望车辆通过弯道时应具有较好的舒适性，此时，则需要将悬架阻尼减小，满足驾驶员的个性驾驶需求；若||δs|-|δsr||＜Δδ，则说明该驾驶员希望车辆在通过该弯道时兼顾通过性和舒适性，此时，则将悬架阻尼调为中间值。其中，Δδ为设定的阈值。
除此之外，本发明实施例中还可以再除了车辆过弯之外的其它场景中识别驾驶员希望的车辆性能，并根据驾驶员的偏好对车辆参数进行相应的修改，使车辆性能满足驾驶员的驾驶需求，达到“车辆适应人”的目的。其中，所有数据处理模块均可以借助由ECU进行处理，其中优选的数据采集处理的频率为50Hz。
本发明实施例中综合考虑了驾驶员的视觉、触觉信息，将视觉、触觉信息以及车辆的运动参数作为驾驶员模型的输入，并将驾驶员模型与车辆控制系统相结合，通过驾驶员模型对输入的信息(视觉信息、触觉信息以及车辆运动参数等)进行处理，对驾驶员行为进行识别和预测， 并依据驾驶员模型输出的“驾驶员期望值”对车辆控制系统参数进行实时地调整和修改，使车辆的性能按照驾驶员特性的变化而变化，同时使车辆性能更加符合驾驶员的驾驶行为特性，满足驾驶员的驾驶需求，降低驾驶员的操作强度，减少交通事故的发生。
实施例二
如图3所示，根据本发明的另外一个方面，提供了一种车辆驾驶方法，包括如下步骤：
1)首先，在车辆起步前，自动检测车辆的当前状态、驾驶员的当前状态以及前方道路状态，并开始传输数据并通过ECU进行计算。
2)检测当前t时刻的道路曲率半径ρ(t)，进行判断车辆是否将进入弯道，即判断ρ(t)＝∞是否成立；如若成立，则说明车辆处于直线车道行驶，并进行计算t+Δt时刻的道路曲率半径ρ(t+Δt)；若ρ(t)＜∞，说明车辆将要或已进入弯道行驶，并计算t+Δt时刻的道路曲率半径ρ(t+Δt)。
3)检测驾驶员对方向盘施的方向盘转角，即实际方向盘转角δs。
4)检测车辆的纵向速度vx。
5)计算出通过该弯道期望的方向盘转角δsr，其中
Figure PCTCN2015076612-appb-000004
上式中，L为轴距，is为转向比，K为车辆稳定性系数，vx为车辆纵向速度，ρ为道路曲率半径。
6)通过对3)和5)计算的结果进行比较，对车辆悬架的阻尼参数进行修正。若
Figure PCTCN2015076612-appb-000005
则表明该驾驶员期望该车辆的轮胎和接触地面应有较高的附着力，并希望快速通过该弯道，此时，则需将悬架阻尼参数增大；若
Figure PCTCN2015076612-appb-000006
则表明该驾驶员期望车辆通过弯道时应具有较好的舒适性，此时，则需要将悬架阻尼减小，满足驾驶员的个性驾驶需求；若||δs|-|δsr||＜Δδ，则说明该驾驶员希望兼顾通过 性和舒适性两者，此时，则将悬架阻尼调为中间值。其中，Δδ为设定的阈值。
综上，该智能辅助驾驶系统包含具有识别预测驾驶行为的驾驶员模型模块，该驾驶员模型综合考虑视觉、触觉因素作为驾驶员的“路感”信息，使驾驶员模型能够识别和预测驾驶员的行为特征和驾驶需求，进而对车辆控制系统参数的进行实时地调节与修正，使车辆的性能更加符合驾驶员的驾驶特征，满足驾驶员的安全驾驶需求和个性需求，降低驾驶员的操作强度，提高驾驶员的驾驶舒适度，减少交通事故的发生。
通过应用本发明实施例的方法，在驾驶车辆的过程当中，能够将驾驶员的“路感”(视觉和触觉信息)考虑在内，建立驾驶员模型，并通过驾驶员模型识别、预测驾驶员的意图和驾驶需求，并根据该识别和预测结果，对车辆控制系统的相应参数做合理的实时修改，使车辆的性能满足驾驶员的个性需求以及安全需求，实现“人—车”之间的无缝协作功能，达到“车辆适应人”的控制目的，使车辆控制系统同时具有“识别”和“自适应”两大功能。
针对于不同的驾驶员模型，本系统中的驾驶员模型一方面其输入参数还可以加入驾驶员的生理特征参数(如年龄大小、醉酒情况、身体疲劳程度、反应的快慢等)和心理特征参数(如驾驶员的紧张程度、驾驶员的情绪稳定程度等)，另一方面其应用还可应用于发动机、离合器、变速器以及制动系统等系统参数的实时修正，以实现“车辆适应人”控制目标。
以上所述，仅为本发明较佳的具体实施方式，但本发明的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本发明揭露的技术范围内，可轻易想到的变化或替换，都应涵盖在本发明的保护范围之内。因此，本发明的保护范围应该以权利要求书的保护范围为准。

Claims (10)

  1. 一种含有驾驶员模型的智能驾驶系统，包括驾驶员模型模块，所述驾驶员模型模块根据驾驶员的驾驶特征和道路环境信息调节所述车辆的性能。
  2. 一种含有驾驶员模型的智能驾驶系统，包括：道路环境检测模块、驾驶员操作检测模块、整车系统模块和驾驶员模型模块；
    其中，
    所述道路环境检测模块用于检测道路环境信息，其中道路环境信息包括与驾驶员操作车辆有关的视觉信息；
    所述驾驶员操作检测模块用于检测驾驶员操作数据，所述驾驶员操作数据包括与驾驶员操作车辆有关的触觉信息；
    所述整车系统模块用于输出车辆运动参数；
    所述驾驶员模型模块，收集所述道路环境检测模块所检测的道路环境信息、所述驾驶员操作检测模块所检测的驾驶员操作数据及所述整车系统模块输出的车辆的运动参数，并通过分析所述道路环境信息以及所述车辆的运动参数获得驾驶所需的期望参数值、通过分析所述驾驶员操作检测模块所输出的数据获得驾驶员的驾驶特征、通过比较所述期望参数值与所述驾驶员的驾驶特征得出所述驾驶员对车辆性能的需求，并依据所述需求调节车辆相应的参数。
  3. 根据权利要求2所述的系统，其特征在于，还包括驾驶员模块，所述驾驶员模块用于根据所述驾驶员的操作改变所述车辆的运动状态。
  4. 根据权利要求2所述的系统，其特征在于，所述道路环境检测模块包括测距雷达和摄像机，所述道路环境信息包括与驾驶员操作车辆有关的视觉信息，所述视觉信息包括道路曲率、道路宽度、道路的路面附着系数以及交通流量。
  5. 根据权利要求2所述的系统，其特征在于，所述触觉信息包括对方向盘、制动踏板、加速踏板、离合器以及变速器的操作参数数据。
  6. 根据权利要求2-5中任一项所述的系统，其特征在于，所述整车系统模块输出的车辆运动参数包括车速、纵向加速度和横摆角速度。
  7. 根据权利要求2-6中任一项所述的系统，其特征在于，道路环境 包括弯道，在某一时刻，所述道路环境检测模块检测道路曲率半径ρ，所述驾驶员操作检测模块检测驾驶员对方向盘施加的实际方向盘转角δs，所述整车系统模块检测车辆的纵向速度vx，在所述驾驶员模型模块中计算出期望的方向盘转角
    Figure PCTCN2015076612-appb-100001
    其中，L为轴距，is为转向比，K为车辆稳定性系数，vx为车辆纵向速度，ρ为道路曲率半径；
    所述驾驶员模块对所述实际方向盘转角δs与所述期望的方向盘转角δsr进行比较，若
    Figure PCTCN2015076612-appb-100002
    则判断该驾驶员期望该车辆的轮胎和接触地面应有较高的附着力，将悬架阻尼参数增大；若
    Figure PCTCN2015076612-appb-100003
    则表明该驾驶员期望车辆通过弯道时应具有较好的舒适性，将悬架阻尼减小；若||δs|-|δsr||＜Δδ，则说明该驾驶员希望兼顾通过性和舒适性，将悬架阻尼调为中间值；其中，Δδ为设定的阈值。
  8. 一种车辆，其特征在于，所述车辆包括如权利要求1-7中任一项所述的系统。
  9. 一种车辆驾驶方法，其特征在于，驾驶车辆中采用如权利要求1-6中任一项所述的系统。
  10. 根据权利要求9所述的方法，其特征在于，所述方法还包括如下步骤：
    1)在车辆起步前，自动检测车辆的当前状态、驾驶员的当前状态以及前方道路状态；
    2)检测当前t时刻的道路曲率半径ρ(t)，进行判断车辆是否将进入弯道，即判断ρ(t)＝∞是否成立；如若成立，则说明车辆处于直线车道行驶，并进行计算t+Δt时刻的道路曲率半径ρ(t+Δt)；若ρ(t)＜∞，说明车辆将要或已进入弯道行驶，并计算t+Δt时刻的道路曲率半径ρ(t+Δt)；
    3)检测驾驶员对方向盘施的方向盘转角，即实际方向盘转角δs；
    4)检测车辆的纵向速度vx；
    5)计算出通过该弯道期望的方向盘转角δsr，其中
    Figure PCTCN2015076612-appb-100004
    其中，L为轴距，is为转向比，K为车辆稳定性系数，vx为车辆纵向速度，ρ为道路曲率半径；
    6)通过对δs和δsr进行比较，对车辆悬架的阻尼参数进行修正。若
    Figure PCTCN2015076612-appb-100005
    则表明该驾驶员期望该车辆的轮胎和接触地面应有较高的附着力，将悬架阻尼参数增大；若
    Figure PCTCN2015076612-appb-100006
    表明该驾驶员期望车辆通过弯道时应具有较好的舒适性，将悬架阻尼减小；若||δs|-|δsr||＜Δδ，则说明该驾驶员希望兼顾通过性和舒适性两者，将悬架阻尼调为中间值；其中，Δδ为设定的阈值。
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