WO2021233005A1 - 一种智能车辆编队变道性能测评方法 - Google Patents
一种智能车辆编队变道性能测评方法 Download PDFInfo
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Definitions
- the technical solution adopted by the present invention is: a method for evaluating the lane changing performance of an intelligent vehicle formation. First, establish a test scenario for the lane change performance of intelligent vehicle formations. Secondly, according to the movement characteristics of intelligent vehicles in the process of lane change in formation, a three-degree-of-freedom nonlinear dynamic model is established. Furthermore, an improved adaptive unscented Kalman filter algorithm is used to filter and estimate the state variables such as the position and speed of the formation vehicles.
- the evaluation index of the formation lane change performance is proposed and quantified, and the evaluation system of the formation lane change performance is constructed, thereby realizing the comprehensive, accurate and reliable performance of the intelligent vehicle formation lane change.
- Scientific quantitative evaluation It includes the following steps:
- Step 1 Establish a test scenario for the lane change performance of intelligent vehicle formations
- the present invention establishes a test scenario for the lane change performance of the intelligent vehicle formation.
- the specific description is as follows:
- the superscript " ⁇ " means differential, such as Represents the differential of v x , r l , v x , v y , a x , and a y respectively represent the yaw rate, longitudinal velocity, lateral velocity, longitudinal acceleration and lateral acceleration of the pilot vehicle, M, ⁇ , I z respectively It represents the mass of the pilot vehicle, the steering angle of the front wheels, and the moment of inertia around the vertical axis of the vehicle body coordinate system.
- the tire slip angle is usually small, and the lateral force of the front and rear tires can be expressed as:
- C ⁇ f and C ⁇ r respectively represent the cornering stiffness of the front and rear tires
- ⁇ f and ⁇ r represent the cornering angles of the front and rear tires, respectively
- ⁇ f ⁇ -(v y +l f r)/v x
- ⁇ r (l r rv y )/v x .
- h is the observation equation
- t is the time
- the system observation vector Z [p eg p ng v x_m ⁇ z_m ] T
- p eg , p ng represent the observation of the vehicle’s east and north position respectively
- the value can be obtained by the latitude and longitude coordinate conversion collected by centimeter-level high-precision satellite positioning systems (such as GPS, Beidou, etc.).
- v x_m and ⁇ z_m respectively represent the vehicle's longitudinal forward speed and yaw rate, which can be measured by an inertial measurement unit.
- the mean value and variance matrix of observation noise and system noise are:
- ⁇ d (k) represents the adaptive weighting parameter at time k
- ⁇ d (k) 1/k
- ⁇ f the forgetting factor
- Step 4 Propose and quantify the evaluation index of the formation lane change performance
- Lavg is the average value of the gap between vehicles in the formation, and the unit is m.
- the formation lane change performance evaluation method based on the actual road test proposed by the present invention can better guarantee the safety and reliability of the intelligent vehicle in the formation lane change, and is more accurate and accurate. Persuasive.
- Figure 1 is a schematic diagram of the technical route of the present invention.
- Figure 2 is a schematic diagram of the dynamics model of the formation vehicle
- Figure 3 is a schematic diagram of the movement trajectory of the pilot car and the following car in a certain intelligent vehicle formation lane change performance test
- the present invention proposes an intelligent vehicle formation lane changing performance evaluation method. First, establish a test scenario for the lane change performance of intelligent vehicle formations. Secondly, according to the movement characteristics of intelligent vehicles in the process of lane change in formation, a three-degree-of-freedom nonlinear dynamic model is established. Furthermore, an improved adaptive unscented Kalman filter algorithm is used to filter and estimate the state variables such as the position and speed of the formation vehicles.
- the present invention establishes a test scenario for the lane change performance of the intelligent vehicle formation.
- the specific description is as follows:
- the pilot vehicle is located in the middle of the test road, driving straight at a set speed, and the follower vehicle follows the pilot vehicle at a set interval.
- the pilot vehicle passes the test starting point, it starts to synchronously collect the motion state parameters of the pilot vehicle and the follower vehicle. Subsequently, when encountering an obstacle, the pilot vehicle performs a lane change operation, and the following vehicle receives the lane change information and performs lane change with a similar movement trajectory.
- the test ends.
- the pilot vehicle refers to the first vehicle in the formation, which is generally in manual driving mode;
- the follower vehicle refers to the intelligent vehicle behind the pilot vehicle in the formation, which is generally in the automatic driving mode.
- the superscript " ⁇ " means differential, such as Represents the differential of v x , r l , v x , v y , a x , and a y respectively represent the yaw rate, longitudinal velocity, lateral velocity, longitudinal acceleration and lateral acceleration of the pilot vehicle, M, ⁇ , I z respectively It represents the mass of the pilot vehicle, the steering angle of the front wheels, and the moment of inertia around the vertical axis of the vehicle body coordinate system.
- l f and l r represent the distance from the center of mass of the vehicle to the front and rear axles, respectively, F xf ,F xr ,F yf ,F yr represents the longitudinal force and lateral force received by the front and rear wheels respectively.
- C xf and C xr respectively represent the longitudinal stiffness of the front and rear tires
- ⁇ l is the road adhesion coefficient
- v e and v n respectively represent the east and north speeds of the vehicle, and ⁇ represents the azimuth angle of the vehicle movement direction relative to the true north direction, and the following relationship is satisfied:
- Unscented Kalman Filter is of the same order as the extended Kalman filter in terms of computational complexity, but the parameter estimation accuracy is higher than that of the extended Kalman filter. Therefore, the UKF algorithm is used to recursively estimate the vehicle motion state parameters.
- the present invention selects centimeter-level high-precision satellite positioning systems (such as GPS, Beidou, etc.) and inertial measurement units as the measurement sensors for vehicle movement, and takes the vehicle’s east position, north position, longitudinal forward speed and yaw rate as the system observation Vector, the observation equation of the system can be expressed as:
- ⁇ i (k-1) is the Sigma point
- x dim is the dimension of the state vector
- x dim 5 in the present invention.
- the mean value and variance matrix of observation noise and system noise are:
- ⁇ d (k) represents the adaptive weighting parameter at time k
- ⁇ d (k) 1/k
- ⁇ f the forgetting factor
- Step 4 Propose and quantify the evaluation index of the formation lane change performance
- ⁇ j represents the lane-change yaw stability of the j-th following car, reflecting the aggressiveness of the following car’s lane change
- r E_j (k) is the expected value of the yaw rate at time k
- the unit is rad/s
- R road is the radius of road curvature, which can be calculated from the position and speed information output in step 3
- s is the number of sampling points during the test.
- ⁇ platoon represents the consistency of speed during lane change in formation
- ⁇ j represents the average value of the relative speed of the j-th following car and the vehicle ahead in the same direction
- v res_j (k) is the combined speed of the j-th following car at time k, in m/s.
- L j represents the safety distance margin between the j-th following car and the forward vehicle in the same direction, which is used to evaluate the formation density and safety
- L v is the body length of the following car in m.
- Lavg is the average value of the gap between vehicles in the formation, and the unit is m.
- Step 1 When evaluating the lane change performance of intelligent vehicle formations, first, in the test scenario constructed in "Step 1", use “Step 2" and “Step 3” to filter and recursively filter the various motion state parameters of the pilot vehicle and the follower vehicle. Secondly, calculate the quantified value of the performance evaluation index according to "Step 4". Finally, the lane changing performance of the formation vehicles is analyzed through quantitative evaluation, so as to realize the comprehensive, accurate and reliable scientific quantitative evaluation of the performance of the intelligent vehicle formation.
- the composition of the evaluation system is composed of hardware equipment and software systems.
- the Nissan X-Jun test vehicle is used as the pilot vehicle for the formation change test, equipped with hardware equipment such as embedded industrial computer, high-precision MEMS integrated navigation system, wireless communication module, inverter and so on.
- the Chery Tiggo test vehicle is used as the follower vehicle for the formation lane change test, equipped with hardware equipment such as embedded industrial computer, high-performance integrated navigation system, wireless communication module, inverter and so on.
- the sensor installation position is close to the center of mass of the test vehicle, and the antenna installation position is at the center of the roof.
- Test environment The test site is located near the airport expressway in Nanjing City, Jiangsu province. It is a typical highway scene in the intelligent vehicle function test scenario.
- the test road is a dry, smooth asphalt pavement.
- the formation lane change performance evaluation method based on the actual road test proposed by the present invention can better guarantee the safety and reliability of the intelligent vehicle in the formation lane change, and is more accurate and accurate. Persuasive.
Abstract
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- 一种智能车辆编队变道性能测评方法,首先,建立智能车辆编队变道性能测试场景;其次,建立三自由度的非线性动力学模型;进而,利用改进的自适应无迹卡尔曼滤波算法对编队车辆的位置、速度状态变量进行滤波估计;最后,基于准确递推的车辆运动状态参数,提出并量化编队变道性能的评价指标,构建编队变道性能的评价体系,其特征在于:步骤一:建立智能车辆编队变道性能测试场景首先,选取高等级公路作为试验场地,其次,建立智能车辆编队变道性能测试场景,具体描述如下:领航车位于试验道路的中间,以设定的速度直线行驶,跟随车以设定的间距跟随领航车行驶,当领航车经过测试起点时,开始同步采集领航车、跟随车的运动状态参数;随后,当遇到障碍物时,领航车进行变道操作,跟随车接收信息并以相似的运动轨迹进行车道变换;当领航车到达终点时,则一次测试结束;在本发明中,领航车是指编队行驶中的第一辆车;跟随车是指编队行驶中领航车后面的智能车辆;步骤二:建立智能车辆编队变道的动态模型对于编队行驶的前轮转向的四轮车辆,做出以下假定:(1)忽略车辆的俯仰、侧倾运动,忽略车辆悬架对轮胎轴的影响;(2)假定车辆前轴的两个轮胎具有相同的转向角、侧偏角、纵向力和侧向力,假定车辆后轴的两个轮胎具有相同的转向角、侧偏角、纵 向力和侧向力;(3)假定车辆前轮的方向与车辆当前速度方向一致;根据以上要求和假定,采用三自由度模型,对编队车辆中的领航车进行动力学建模;对车辆的三自由度动力学模型进行定义,即考虑纵向、侧向和横摆运动;其中,G点为车辆的质心,将前轴的左、右侧车轮合并为一个点,位于A点,将后轴的左、右侧车轮合并为一个点,位于B点;GX轴与车辆前进方向相同,GY轴由右手螺旋规则确定,GZ轴垂直于车辆运动平面并指向地面;领航车的动力学模型描述为:式(1)中,上标“·”表示微分, 表示v x的微分,r l,v x,v y,a x,a y分别表示领航车的横摆角速度、纵向速度、侧向速度、纵向加速度和侧向加速度,M,δ,I z分别表示领航车的质量、前轮转向角、绕车身坐标系垂向轴的转动惯量,l f,l r分别表示车辆质心到前轴、后轴的距离,F xf,F xr,F yf,F yr分别表示前轮、后轮受到的纵向力、侧向力;轮胎侧偏角较小时,前、后轮胎的侧向力表示为:F yf=C αf·α f,F yr=C αr·α r (2)式(2)中,C αf,C αr分别表示前、后轮胎的侧偏刚度,α f,α r分别表示前、后轮胎的侧偏角,且α f=δ-(v y+l fr)/v x,α r=(l rr-v y)/v x;计算式(2)中的轮胎纵向力,采用刷子轮胎模型,前、后轮胎的纵向力表示为:式(3)中,C xf,C xr分别表示前、后轮胎的纵向刚度,μ l为道路附着系数,取μ l=0.75,前、后轮胎的垂向载荷F zf,F zr,前、后轮胎的纵向滑移率s xf,s xr通过以下公式计算获得:式中,R tyre为轮胎半径,ω f,ω r分别表示前、后轮的旋转角速度,通过轮速传感器测量的线速度计算获得,v xf,v xr分别表示前、后轮轴上沿轮胎方向的速度,且v xr=v x,v xf=v xcosδ+(v y+l fr l)sinδ;同时,车辆的纵向、侧向速度v x,v y与东向、北向位置p e,p n满足以下关系:式(6)中,v e,v n分别表示车辆的东向、北向速度,β表示车辆运动方向相对于正北方向的方位角,且满足以下关系:对于智能车辆的编队变道过程,取系统状态向量X=[p e p n v x v y r l] T,矩阵上角标T表示对矩阵转置,T表示离散的周期;根据式(1)描述的动力学模型,建立系统状态方程:X=f(X,U,W,γ) (7)式(7)中,f(·)为5维向量函数,W为零均值的系统高斯白噪声,γ为系统外输入对应的零均值高斯白噪声,U为系统外部输入向量且U=[δ F xf F xr] T,其中,前轮转向角δ=ε l/ρ l,方向盘转角ε l通过车身CAN总线获取,ρ l为转向系的传动比,取ρ l=10,轮胎纵向力F xf,F xr通过刷子轮胎模型确定;步骤三:基于改进无迹卡尔曼滤波的车辆运动状态估计采用UKF算法对车辆运动状态参数进行递推估计;系统的观测方程表示为:Z(t)=h(X(t),V(t)) (8)式(8)中,h为观测方程,t表示时间,系统观测向量Z=[p eg p ng v x_m ω z_m] T,其中,p eg,p ng分别表示车辆东向位置、北向位置的观测值,通过厘米级高精度卫星定位系统采集的经纬度坐标转换得到,v x_m,ω z_m分别表示车辆的纵向前进速度和横摆角速度,通过惯性测量单元测量获得;对公式(7)、(8)进行离散化处理,离散化后的系统状态方程和观测方程分别为:式(9)中,k为离散化时刻,系统过程噪声W=[w 1 w 2 w 3 w 4 w 5] T,其中,w 1,w 2,w 3,w 4,w 5分别表示5个系统高斯白噪声分量,W(k-1)对应的高斯白噪声协方差阵 其中, 分别表示高斯白噪声w 1,w 2,w 3,w 4,w 5对应的方差;系统观测噪声V=[v 1 v 2 v 3 v 4] T,其中,v 1,v 2,v 3,v 4分别表示4个系统高斯白噪声分量,V(k)对应的测量高斯白噪声协方差阵 其中, 分别表示高斯白噪声v 1,v 2,v 3,v 4对应的方差,根据传感器的位置、速度、横摆角速度测量噪声的统计特性来确定;系统外输入噪声 其中, 分别表示δ,F xf,F xr对应的零均值高斯白噪声分量,这些白噪声隐含在系统状态函数f的三个系统外输入中;系统状态函数为:其中,其次,根据公式(9)描述的系统状态方程和观测方程,建立无迹卡尔曼滤波递推过程,利用时间更新和测量更新进行滤波递推:(1)对输入变量进行初始化并进行参数计算(2)状态估计(3)时间更新ξ i(k,k-1)=f[ξ i(k,k-1)],i=0,1,...,2x dim (13)(4)观测更新χ i(k,k-1)=h[ξ i(k,k-1)] (16)(5)滤波更新将AKF滤波器与UKF滤波器结合,并进行针对性改进,以提高系统状态估计的精度;利用式(23-26)替换式(14-15)、式(17-18):式中,δ d(k)表示k时刻的自适应加权参数,且δ d(k)=1/k,τ f为遗忘因子;综上,式(10-13)、式(16)、式(19-28)构成了改进后的自适应无迹卡尔曼滤波算法;利用步骤二、步骤三描述的方法,建立各跟随车的动力学模型并进行滤波递推,输出各跟随车的运动状态参数;对于编队中的智能车辆,输出的纵向速度信息V x_j={v x_j(0),v x_j(1),...,v x_j(k)},侧向速度信息V y_j={v y_j(0),v y_j(1),...,v y_j(k)},横摆角速度信息R j={r l_j(0),r l_j(1),...,r l_j(k)},位置信息P j={(p e_j(0),p n_j(0)),(p e_j(1),p n_j(1)),...,(p e_j(k),p n_j(k)),(j=1,2,3...,a);其中,下标j表示编队中的第j个编队车辆,如j=1表示该车为领航车,j=2表示该车为第一辆跟随车,a为编队车辆的总数量,p e_j(k),p n_j(k),v x_j(k),v y_j(k),r l_j(k)分别表示第j个智能车辆在k时刻的东向、北向位置、纵向、侧向速度和横摆角速度;步骤四:提出并量化编队变道性能的评价指标首先,提出多维度的编队变道性能评价指标:变道横摆稳定性、 速度一致性、安全距离余量和平均车辆间隙;其次,基于步骤二输出的领航车、跟随车的位置、速度运动状态参数,对以上性能评价指标进行量化,具体地:(1)变道横摆稳定性式(29)中,σ j表示第j辆跟随车的变道横摆稳定性,反映了跟随车进行变道的激进程度,r E_j(k)为k时刻的横摆角速度的期望值,且 单位均为rad/s,R road为道路曲率半径,通过步骤三输出的位置、速度信息计算得到,s为测试过程中的采样点数量;(2)速度一致性(3)安全距离余量式(31)中,L j表示第j辆跟随车与同向前方车辆的安全距离余量,L v为跟随车的车身长度,单位均为m;(4)平均车辆间隙式(32)中,L avg为编队车辆间隙的平均值,单位为m;当进行智能车辆编队变道性能测评时,首先,在“步骤一”构建的测试场景下,利用“步骤二”、“步骤三”对领航车、跟随车的各运动状态参数进行滤波递推;其次,根据“步骤四”计算性能评价指标的量化值;最后,通过定量评价的方式分析编队车辆的变道性能。
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CN116295227A (zh) * | 2023-05-25 | 2023-06-23 | 湖南联智科技股份有限公司 | 一种路面平整度检测的方法、系统及存储介质 |
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