CN110155168A - Vehicular intelligent based on driver's body-sensing turns to adjusting method and system - Google Patents
Vehicular intelligent based on driver's body-sensing turns to adjusting method and system Download PDFInfo
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- CN110155168A CN110155168A CN201910338319.8A CN201910338319A CN110155168A CN 110155168 A CN110155168 A CN 110155168A CN 201910338319 A CN201910338319 A CN 201910338319A CN 110155168 A CN110155168 A CN 110155168A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
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Abstract
The present invention provides a kind of Vehicular intelligent steering adjusting method and system based on driver's body-sensing, when method therein includes the following steps: to detect that vehicle is in turn condition, obtains the real-time side acceleration of vehicle；The real-time side acceleration is compared with the side acceleration threshold value prestored, the side acceleration threshold value is matched with the physiological status parameter of the driver；If the real-time side acceleration is greater than or equal to the side acceleration threshold value, the turning longitudinal acceleration of the vehicle is adjusted, until the real-time side acceleration is less than the side acceleration threshold value.Above scheme provided by the invention, in such a way that side acceleration threshold value is set, so that the real-time side acceleration of vehicle during the turn meets the condition for being less than side acceleration threshold value, so as to improve the comfort level of driver in vehicle turning driving process, the driving experience during turning is promoted.
Description
Technical field
The present invention relates to intelligent automobiles to assist driving field, and in particular to a kind of Vehicular intelligent based on driver's body-sensing turn
To adjusting method and system.
Background technique
In recent years, with the increasingly maturation of automatic driving technology, more and more automobiles and Internet company are competitively
Developing intellectual resource automotive engineering, one leisurely automatic Pilot instruction carriage emerge in succession.Nearly 2 years, as autonomous driving vehicle has begun
Gradually it is applied to market, people more take notice of the riding comfort of autonomous driving vehicle.By carrying out investigation hair to user experience
Existing, current autonomous driving vehicle is less than some driving experiences driver abundant in ride experience, is especially turning to row
During sailing, quite a few people feels still to be driven a car by the driver for enriching driving experience or simply thinks that oneself is driven
It is more comfortable to sail automobile.
Control algolithm of the autonomous driving vehicle in steering increasingly focuses on vehicle front steering angle or yaw moment at present
Control on to guarantee to meet in motor turning driving process certain stability and comfort requirement, and the vehicle in motor turning
Speed control on more consider motor turning security requirement (if not with car crass).Inventor is realizing mistake of the invention
It is found in journey, the size of side acceleration directly acts on the body of driver when motor turning, this is in some muscle (chest lock cream
Prominent flesh, Superior trapezius etc.) on react fairly obvious.On the other hand, side acceleration is also the driving experience for influencing driver
Key factor.Turning velocity can be brought relatively by force automatic Pilot process in the prior art to driver from safety considerations merely
Sense of discomfort, therefore the course changing control of automobile still remains very big room for improvement during automatic Pilot in the prior art.
Summary of the invention
The embodiment of the present invention is intended to provide a kind of Vehicular intelligent steering adjusting method and system based on driver's body-sensing, with
Solving automatic Pilot in the prior art is in the process that driver feels uncomfortable since speed control is inappropriate in Ackermann steer angle,
The technical issues of influencing driving experience.
For this purpose, the present invention provides a kind of Vehicular intelligent steering adjusting method based on driver's body-sensing, include the following steps:
When detecting that vehicle is in turn condition, the real-time side acceleration of vehicle is obtained；
The real-time side acceleration is compared with the side acceleration threshold value prestored, the side acceleration threshold value
It is matched with the physiological status parameter of the driver, the physiological status parameter includes height, weight, age and gender；
If the real-time side acceleration is greater than or equal to the side acceleration threshold value, the longitudinal direction of the vehicle is adjusted
Acceleration, until the real-time side acceleration is less than the side acceleration threshold value.
Optionally, the above-mentioned Vehicular intelligent based on driver's body-sensing turns in adjusting method, passes through side acceleration mark
Fixed test obtains the side acceleration threshold value, and the side acceleration rating test includes the following steps:
Determine the physiological status parameter for participating in the subject of rating test；
When acquisition vehicle is in turn condition, the change procedure of the side acceleration values of vehicle；
Obtain electromyography signal change procedure of the subject when vehicle is in turn condition；
The subject is obtained after rating test for the experience result during current rating test；
According to the change procedure of the side acceleration values, the electromyography signal change procedure and the experience as a result, obtaining
Side acceleration threshold value is obtained, the side acceleration threshold value corresponds to current physiological state parameter.
Optionally, the above-mentioned Vehicular intelligent based on driver's body-sensing turns in adjusting method, obtains the subject and exists
In the step of electromyography signal change procedure when vehicle is in turn condition:
The electromyography signal is obtained by detecting the electromyography signal of the tested muscle of subject, wherein the tested muscular position
In the subject side contrary with Vehicular turn.
Optionally, the above-mentioned Vehicular intelligent based on driver's body-sensing turns in adjusting method, obtains the subject and exists
The step of electromyography signal change procedure when vehicle is in turn condition includes:
In setting detection cycle, using the electromyography signal of the tested muscle of particular step size acquisition subject as detection cycle
Interior original electromyography signal value；
The root-mean-square value for obtaining the original electromyography signal in each detection cycle, to the original myoelectricity in each detection cycle
The root-mean-square value of signal is standardized to obtain the characteristic value of electromyography signal in detection cycle；
Process that the characteristic value of the electromyography signal changes over time is obtained as the electromyography signal change procedure.
Optionally, the above-mentioned Vehicular intelligent based on driver's body-sensing turns in adjusting method, obtains each detection cycle
The root-mean-square value of interior original electromyography signal is standardized the root-mean-square value of the original electromyography signal in each detection cycle
Handling the step of obtaining the characteristic value of electromyography signal in detection cycle includes:
Original electromyography signal in each detection cycle is filtered to filter out interference value；
For the original electromyography signal by filtering processing, the root-mean-square value of each detection cycle is calculated:
Wherein, e (t) is real-time collected original electromyography signal in detection cycle, and T is detection cycle duration, [(k-1)
T, kT] it is k-th of detection cycle, τ is sampling step length；
Obtain electromyography signal root-mean-square value RMS of the subject in static states；
The characteristic value of electromyography signal in each detection cycle are as follows: RMS=RMS (k)-RMSS。
Optionally, the above-mentioned Vehicular intelligent based on driver's body-sensing turns in adjusting method, according to the lateral acceleration
The change procedure of angle value, the electromyography signal change procedure and the experience are as a result, the step of obtaining side acceleration threshold value is wrapped
It includes:
Obtain the average value of side acceleration in setting detection cycle；
Both the characteristic value of side acceleration average value in same detection cycle and electromyography signal is corresponded, obtain
Relationship matched curve；
Comfort level threshold range and the comfort level threshold range are determined according to the experience result；
Curve point/section corresponding with the comfort level threshold range is determined in the matched curve, selects the song
Maximum side acceleration in line point/section is as the side acceleration threshold value.
Optionally, the above-mentioned Vehicular intelligent based on driver's body-sensing turns in adjusting method, detects that vehicle is in and turns
When curved state, in the step of obtaining the real-time side acceleration of vehicle, the real-time side acceleration is obtained in the following way:
Obtain the real-time steering wheel angle δ and real time running speed V of vehicle；
The real-time side acceleration
Wherein, Q is velocity coeffficient, and the value of Q is related with vehicle attribute, according to historical experience value or passes through experiment measurement
It obtains；I is angle ratio of steering system；L is wheelbase.
Optionally, the above-mentioned Vehicular intelligent based on driver's body-sensing turns in adjusting method, if described laterally add in real time
Speed is greater than or equal to the side acceleration threshold value, then adjusts the longitudinal acceleration of the vehicle, until described lateral in real time
Acceleration was less than in the step of side acceleration threshold value, adjusted the longitudinal acceleration of the vehicle by the following method:
Wherein, GxFor longitudinal acceleration；CxyFor peg model parameter；Gx_DCChange round cadion-acceleration for resultant acceleration ideal
The longitudinal component of degree；For the derivative of side acceleration,For the form of expression of first order inertial loop Laplace transform,
Wherein T is inertia time constant.Above formula explanation, GxWithTransmitting between is one order inertia transmitting.
The present invention also provides a kind of storage medium, the storage medium is computer readable storage medium, and the storage is situated between
Program information is stored in matter, computer executes described in any of the above item after reading described program information based on driver's body-sensing
Vehicular intelligent turn to adjusting method.
The present invention also provides a kind of, and the Vehicular intelligent based on driver's body-sensing turns to regulating system, which is characterized in that including
At least one processor and at least one processor are stored with program information at least one described memory, at least one institute
It states the Vehicular intelligent executed described in any of the above item based on driver's body-sensing after processor reading described program information and turns to tune
Section method.
Compared with prior art, above-mentioned technical proposal provided in an embodiment of the present invention at least has following
The utility model has the advantages that
Vehicular intelligent provided in an embodiment of the present invention based on driver's body-sensing turns to adjusting method and system, side therein
When method includes the following steps: to detect that vehicle is in turn condition, the real-time side acceleration of vehicle is obtained；By the real-time side
It is compared to acceleration with the side acceleration threshold value prestored, the physiology shape of the side acceleration threshold value and the driver
The matching of state parameter；If the real-time side acceleration is greater than or equal to the side acceleration threshold value, the vehicle is adjusted
Longitudinal acceleration, until the real-time side acceleration is less than the side acceleration threshold value.Above scheme provided by the invention,
In such a way that side acceleration threshold value is set, it is less than laterally so that the real-time side acceleration of vehicle during the turn meets
The condition of acceleration rate threshold is promoted during turning so as to improve the comfort level of driver in vehicle turning driving process
Driving experience.
Detailed description of the invention
Fig. 1 is the process of the Vehicular intelligent steering adjusting method described in one embodiment of the invention based on driver's body-sensing
Figure；
Fig. 2 is side acceleration rating test flow chart described in one embodiment of the invention；
Fig. 3 is that the hardware of the Vehicular intelligent steering regulating system described in one embodiment of the invention based on driver's body-sensing connects
Connect relation schematic diagram.
Specific embodiment
Below in conjunction with attached drawing, the embodiment of the present invention will be further explained.In the description of the present invention, it should be noted that art
The orientation or positional relationship of the instructions such as language "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outside" is
It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of describing the description that simplifies of the invention, rather than indicate or dark
Show that signified device or component there must be specific orientation, be constructed and operated in a specific orientation, therefore should not be understood as pair
Limitation of the invention.In addition, term " first ", " second ", " third " are used for description purposes only, and it should not be understood as instruction or dark
Show relative importance.Wherein, term " first position " and " second position " are two different positions.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary
The connection of two component internals.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in invention.
Embodiment 1
The present embodiment provides a kind of, and the Vehicular intelligent based on driver's body-sensing turns to adjusting method, can be applied to intelligent vehicle
Automated driving system, in DAS (Driver Assistant System) or body control system, as shown in Figure 1, including the following steps:
S101: when detecting that vehicle is in turn condition, the real-time side acceleration of vehicle is obtained；Intelligent vehicle is travelling
In the process, a plurality of types of sensors installed on vehicle can carry out real-time monitoring to the driving status of vehicle, so as to
Judge whether vehicle travels in turn condition, such as the straightness in lane can be carried out by the camera being arranged on vehicle
Detection, is detected by side acceleration of the velocity sensor on vehicle to vehicle, passes through the sensing being arranged on steering wheel
Device such as detects at the steering wheel angle.When detecting that vehicle is in turn condition, pass through the sensor pair being arranged on vehicle
The side acceleration of vehicle is detected.
S102: the real-time side acceleration is compared with the side acceleration threshold value prestored, the lateral acceleration
Degree threshold value is matched with the physiological status parameter of the driver, and the physiological status parameter includes height, weight, age and property
Not；Side acceleration threshold value and physiology can be stored in automated driving system, DAS (Driver Assistant System) or body control system
The relationship of state parameter can be stored by way of table.It is appreciated that due to vehicle model difference, different automobile types
The data of middle storage may difference.It preferably, can also include receiving driver's input before the realization of this step
The step of physiological status parameter information.When driver's unlocking vehicle, dialog box can be popped up on middle control screen, please drive
Member inputs its true physiological status parameter, can be with the number that stores in tables of data after receiving physiological status supplemental characteristic
According to being compared one by one, with the matched side acceleration threshold value of determination.Side acceleration threshold value is can to ensure that driver has
The threshold value of comfort, before each vehicle release by different sexes, height, weight, age and the subject of driving age into
Row a large number of experiments obtains.
S103: if the real-time side acceleration is greater than or equal to the side acceleration threshold value, the vehicle is adjusted
Longitudinal acceleration, until the real-time side acceleration be less than the side acceleration threshold value.When real-time side acceleration is big
When the side acceleration threshold value, illustrate that driver may not feel good, it at this time can be automatically to vehicle driving
Speed is adjusted, and to reduce side acceleration, improves the driving experience of driver.In the process of moving due to vehicle, laterally
Acceleration and longitudinal acceleration have correlation, each other there is specific conversion relation, therefore pass through tune in this step
The longitudinal acceleration of vehicle can adjust the side acceleration of vehicle simultaneously, and then improve the comfort level of driver.
In the present embodiment, the side acceleration threshold value, the lateral acceleration are obtained by side acceleration rating test
Degree rating test includes the following steps:
S201: the physiological status parameter for participating in the subject of rating test is determined；Select several drivers as test by
Examination person carries out side acceleration rating test, and subject's gender, height, weight, age and driving age should be evenly distributed, and in reality
Without fatigue, the behaviors such as drink before testing.The present embodiment reflects physiological driver's body-sensing using electromyography signal.Before test, every is given
Subject, which pastes, to be powered on pole piece and electromyography signal transmission module is worn on neck.In test, the electromyography signal passes through inspection
The electromyography signal of tested muscle for surveying subject obtains, wherein to be located at subject contrary with Vehicular turn for the tested muscle
Side because that usually contrary with motor turning side muscle response is more obvious, when automobile turn left when choose by
The electromyography signal of examination person's right muscles processes, and the electromyography signal that subject's left muscles are chosen when automobile is turned right, which is done, to be located
Reason.Specifically every subject tests two pieces of muscle, left nutator and right nutator.Using the original of differential amplification
Reason, by two attachment of electrodes on each muscle at a distance of about 20mm.Reference electrode is pasted on clavicle, because in the skin of clavicle
There is one piece of skeletal muscle below skin.Calibration process carries out a large number of experiments, makes the side acceleration of each test different as far as possible and divides
Cloth is uniform, and the U-turn route of a different turning radius (20-35m) is chosen in test every time, and entering curved speed is (30-60km/
h).For obtain driver preferable driving experience, enter it is curved after require driver according to comfortable free driving condition carry out turning lead to
It crosses.In actual test, speed and turning radius cannot keep constant, therefore what test measured every time is a series of fluctuations
Side acceleration data.Include the following steps: in test
S301: in setting detection cycle, using the electromyography signal of the tested muscle of particular step size acquisition subject as inspection
Survey the original electromyography signal value in the period；Setting detection cycle can choose 0.05 second, and step-length can choose 0.005 second etc..
S302: the root-mean-square value of the original electromyography signal in each detection cycle is obtained, to the original in each detection cycle
The root-mean-square value of beginning electromyography signal is standardized to obtain the characteristic value of electromyography signal in detection cycle；Comprising:
Original electromyography signal in each detection cycle is filtered to filter out interference value, this step is to filter
Except interference signal, bandpass filtering is can be used in filtering processing, and cut-off frequecy of passband is limited to 30Hz and 120Hz, stopband cutoff frequency up and down
Rate is limited to 20Hz and 130Hz up and down.For the original electromyography signal by filtering processing, the equal of each detection cycle is calculated
Root value:
Wherein, e (t) is real-time collected original electromyography signal in detection cycle, and T is detection cycle duration, [(k-1)
T, kT] it is k-th of detection cycle, τ is sampling step length；
S303: electromyography signal root-mean-square value RMS of the subject in static state is obtaineds, the process and step S301 and step
Acquisition mode in S302 is identical, and only subject is in static state.
S304: the characteristic value of electromyography signal in each detection cycle are as follows: RMS=RMS (k)-RMSS.Using standardization
Later, the error as caused by the difference of skin resistance between individual can be filtered out.
S305: it obtains the process that the characteristic value of the electromyography signal changes over time and changed as the electromyography signal
Journey.
S202: when acquisition vehicle is in turn condition, the change procedure of the side acceleration values of vehicle；
S203: electromyography signal change procedure of the subject when vehicle is in turn condition is obtained；
S204: the subject is obtained after rating test for the experience result during current rating test；
Driving experience can be provided in real time during subject is in rating test as a result, driving experience result and time be also have pair
It should be related to, such as scoring subject's selection altogether can be provided, driving experience is such as divided into 5 grades, is 1 uncomfortable, 2 respectively
More uncomfortable, 3 is general, and 4 is relatively comfortable, and 5 is comfortable etc..
S205: it is tied according to the change procedure of the side acceleration values, the electromyography signal change procedure and the experience
Fruit, obtains side acceleration threshold value, and the side acceleration threshold value corresponds to current physiological state parameter.It specifically includes:
S401: the average value of side acceleration in setting detection cycle is obtained；Due to being influenced by various practical factors, every time
Test steering procedure in side acceleration have fluctuation, therefore can seek every time test during measure it is a series of laterally add
The average value of speed, the setting detection cycle in the start node and terminal node and step S301 in the setting period in this step
Start node it is identical with terminal node.
S402: the characteristic value of the side acceleration average value in same detection cycle and electromyography signal is corresponded, is obtained
To the relationship matched curve of the two.For two Drawing of Curve in the same coordinate system, abscissa therein is time, ordinate difference
For the root-mean-square value of the electromyography signal after side acceleration average value, standardization.
S403: comfort level threshold range and the comfort level threshold range are determined according to the experience result；As previously mentioned,
Subject provides driving experience at any time during rating test as a result, driving experience result provides time and driving experience scoring
With corresponding relationship.That is, it is average to obtain driving experience result, side acceleration that subject provides in the same time
The root-mean-square value of electromyography signal after value, standardization.If driving experience result is also plotted under the same coordinate system, can obtain
To three curves.
S404: determining curve point/section corresponding with the comfort level threshold range in the matched curve, selects institute
The maximum side acceleration in curve point/section is stated as the side acceleration threshold value.Namely determine that subjects subjective is evaluated as
All electromyography signal root-mean-square values after standardization corresponding to relatively comfortable and comfortable two grades, in side acceleration
It is made on curve and concentrates section, is chosen maximum side acceleration values corresponding to the section and is demarcated as offline side acceleration
Threshold value.The above rating test process provided in this embodiment can summarize for process shown in Fig. 2.
It is appreciated that can be carried out many times for side acceleration rating test, for different physiological status parameters
Subject, for different turn condition etc..And the rating test in each situation can carry out repeatedly, can seeking
The average value of test of many times is as test result.Such test can for different automobile types carry out, when obtain test result it
It is storable in the control system of vehicle afterwards.Vehicular automatic driving or auxiliary driving procedure in, when detect vehicle into
Enter turn condition, then can extract corresponding side acceleration threshold value directly to realize that the speed to vehicle is adjusted, it is ensured that drive
The person's of sailing driving experience.
Further, when detecting that vehicle is in turn condition, in the step of obtaining the real-time side acceleration of vehicle, lead to
It crosses the real-time side acceleration as described in obtaining under type: obtaining the real-time steering wheel angle δ and real time running speed V of vehicle；Institute
State real-time side acceleration
Wherein, Q is velocity coeffficient, and i is angle ratio of steering system；L is wheelbase.The value of Q is related with vehicle attribute, according to
Historical experience value is obtained by testing measurement, especially by very simple centripetal acceleration (side acceleration) formula
To obtain: a=V2/ R, wherein turning radius R is determined by steering wheel angle δ, it is known that steering wheel angle passes through steering system ratio i
Wheel steering angle δ/i can be found out, and then according to triangle relation R=L/sin (δ/i), because the typically small sin of wheel steering angle (δ/
I) be approximately equal to δ/i, former formula can be demonstrate,proved, the formula be it is theoretic, it is also contemplated that the factors such as slip angle of tire in practical application,
Need a correction factor to make result as far as possible close to true value, simple point can by historical experience according to different vehicles into
Row is chosen, and complexity point can allow automobile with different speed Turning travels in experimental site, can be easy in experimental situation
Ground carries out high accuracy positioning to vehicle, obtains track and the speed of vehicle, and calculating the curvature per a bit of track of vehicle can obtain
The turning radius of vehicle out, according to a=V2/ R calculates side acceleration a, to compare with formula calculated result, by variable
Velocity coeffficient Q be modified, notice that Q can change.
Preferably, the longitudinal acceleration of the vehicle is adjusted by the following method:
Wherein, GxFor longitudinal acceleration；CxyFor peg model parameter, chosen by test；Gx_DCFor resultant acceleration ideal
The longitudinal component for changing round heart acceleration, is often taken as 0 in practical applications.For the derivative of side acceleration,It is one
The form of expression of rank inertial element Laplace transform, wherein T is inertia time constant；Sign expression takes the parameter positive and negative
Number, positive number takes positive sign, and negative takes symbol: above formula explanation, GxWithTransmitting between is one order inertia transmitting.By adjusting Gx
Until the real-time side acceleration is less than the side acceleration threshold value to meet curved comfortable experience.
CxyModel parameter calibration is rule of thumb carried out, is evaluated with driver comfort degree and chooses a value appropriate.
Through the above scheme, during motor turning, if side acceleration is more than side acceleration threshold value, system is certainly
It is dynamic that a braking deceleration is applied to vehicle, automobile speed is reduced, so that automobile side angle acceleration be made to become smaller, is again introduced into side
To acceleration decision process, above step is repeated until real-time side acceleration is less than side acceleration threshold value.
Embodiment 2
The present embodiment provides a kind of readable storage medium storing program for executing, computer program, the calculating are stored in the storage medium
Machine program realizes that the Vehicular intelligent based on driver's body-sensing described in any technical solution turns in embodiment 1 after being computer-executed
To adjusting method.
Embodiment 3
The present embodiment provides a kind of, and the Vehicular intelligent based on driver's body-sensing turns to regulating system, as shown in figure 3, including extremely
Lack a processor 301 and at least one processor 302, is stored with command information at least one described memory 302, at least
One processor 301, which is read, can be performed after described program instruction in embodiment 1 described in either a program based on driver's body
The Vehicular intelligent of sense turns to adjusting method.
In addition, the Vehicular intelligent based on driver's body-sensing in the present embodiment turns in regulating system, it can also include intelligence
The various kinds of sensors configured in energy automobile, this system can receive the detection signal of various kinds of sensors transmission, according to detection signal
Determine whether steering wheel angle, travel speed, vehicle turn.When carrying out side acceleration rating test, in calibration process
Also use the physiologic information detector etc. of detection subject's electromyography signal.
In addition to this, it can also include: input unit that the above-mentioned Vehicular intelligent based on driver's body-sensing, which turns to regulating system,
303 and output device 304.Processor 301, memory 302, input unit 303 and output device 304 can by bus or
Other modes connection.The above-mentioned Vehicular intelligent based on driver's body-sensing turns to the executable the embodiment of the present application of regulating system and is provided
Method, have the corresponding functional module of execution method and beneficial effect.The not technical detail of detailed description in the present embodiment,
It can be found in method provided by the embodiment of the present application 1.
Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: it still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features；
And these are modified or replaceed, technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution spirit and
Range.
Claims (10)
1. a kind of Vehicular intelligent based on driver's body-sensing turns to adjusting method, which comprises the steps of:
When detecting that vehicle is in turn condition, the real-time side acceleration of vehicle is obtained；
The real-time side acceleration is compared with the side acceleration threshold value prestored, the side acceleration threshold value and institute
The physiological status parameter matching of driver is stated, the physiological status parameter includes height, weight, age and gender；
If the real-time side acceleration is greater than or equal to the side acceleration threshold value, adjusts the longitudinal of the vehicle and accelerate
Degree, until the real-time side acceleration is less than the side acceleration threshold value.
2. the Vehicular intelligent according to claim 1 based on driver's body-sensing turns to adjusting method, which is characterized in that pass through
Side acceleration rating test obtains the side acceleration threshold value, and the side acceleration rating test includes the following steps:
Determine the physiological status parameter for participating in the subject of rating test；
When acquisition vehicle is in turn condition, the change procedure of the side acceleration values of vehicle；
Obtain electromyography signal change procedure of the subject when vehicle is in turn condition；
The subject is obtained after rating test for the experience result during current rating test；
According to the change procedure of the side acceleration values, the electromyography signal change procedure and the experience as a result, obtaining side
To acceleration rate threshold, the side acceleration threshold value corresponds to current physiological state parameter.
3. the Vehicular intelligent according to claim 2 based on driver's body-sensing turns to adjusting method, which is characterized in that obtain
In the step of electromyography signal change procedure of the subject when vehicle is in turn condition:
The electromyography signal is obtained by detecting the electromyography signal of tested muscle of subject, wherein the tested muscle be located at by
The examination person side contrary with Vehicular turn.
4. the Vehicular intelligent according to claim 3 based on driver's body-sensing turns to adjusting method, which is characterized in that obtain
The step of electromyography signal change procedure of the subject when vehicle is in turn condition includes:
In setting detection cycle, using the electromyography signal of the tested muscle of particular step size acquisition subject as in detection cycle
Original electromyography signal value；
The root-mean-square value for obtaining the original electromyography signal in each detection cycle, to the original electromyography signal in each detection cycle
Root-mean-square value be standardized to obtain the characteristic value of electromyography signal in detection cycle；
Process that the characteristic value of the electromyography signal changes over time is obtained as the electromyography signal change procedure.
5. the Vehicular intelligent according to claim 4 based on driver's body-sensing turns to adjusting method, which is characterized in that obtain
The root-mean-square value of original electromyography signal in each detection cycle, to the root mean square of the original electromyography signal in each detection cycle
Value is standardized to obtain the step of characteristic value of electromyography signal in detection cycle and includes:
Original electromyography signal in each detection cycle is filtered to filter out interference value；
For the original electromyography signal by filtering processing, the root-mean-square value of each detection cycle is calculated:
Wherein, e (t) is real-time collected original electromyography signal in detection cycle, and T is detection cycle duration, [(k-1) T, kT]
For k-th of detection cycle, τ is sampling step length；
Obtain electromyography signal root-mean-square value RMS of the subject in static states；
The characteristic value of electromyography signal in each detection cycle are as follows: RMS=RMS (k)-RMSs。
6. the Vehicular intelligent according to claim 5 based on driver's body-sensing turns to adjusting method, which is characterized in that according to
The change procedure of the side acceleration values, the electromyography signal change procedure and the experience are as a result, obtain side acceleration
The step of threshold value includes:
Obtain the average value of side acceleration in setting detection cycle；
The characteristic value of side acceleration average value in same detection cycle and electromyography signal is corresponded, the pass of the two is obtained
It is matched curve；
Comfort level threshold range and the comfort level threshold range are determined according to the experience result；
Corresponding with comfort level threshold range curve point/section is determined in the matched curve, select the curve point/
Maximum side acceleration in section is as the side acceleration threshold value.
7. the Vehicular intelligent according to claim 1-6 based on driver's body-sensing turns to adjusting method, feature
It is, when detecting that vehicle is in turn condition, in the step of obtaining the real-time side acceleration of vehicle, obtains in the following way
Obtain the real-time side acceleration:
Obtain the real-time steering wheel angle δ and real time running speed V of vehicle；
The real-time side acceleration
Wherein, Q is velocity coeffficient, and the value of Q is related with vehicle attribute, is measured according to historical experience value or by experiment
It arrives；I is angle ratio of steering system；L is wheelbase.
8. the Vehicular intelligent according to claim 7 based on driver's body-sensing turns to adjusting method, which is characterized in that if institute
Real-time side acceleration is stated more than or equal to the side acceleration threshold value, then adjusts the longitudinal acceleration of the vehicle, until
The real-time side acceleration was less than in the step of side acceleration threshold value, adjusted the vertical of the vehicle by the following method
To acceleration:
Wherein, GxFor longitudinal acceleration；CxyFor peg model parameter；Gx_DCChange round heart acceleration for resultant acceleration ideal
Longitudinal component；For the derivative of side acceleration,For the form of expression of first order inertial loop Laplace transform, wherein T
For inertia time constant.
9. a kind of storage medium, which is characterized in that the storage medium is computer readable storage medium, in the storage medium
It is stored with program information, perform claim requires 1-8 is described in any item to be based on driver after computer reads described program information
The Vehicular intelligent of body-sensing turns to adjusting method.
10. a kind of Vehicular intelligent based on driver's body-sensing turns to regulating system, which is characterized in that including at least one processor
And at least one processor, program information is stored at least one described memory, at least one described processor reads institute
Perform claim requires the described in any item Vehicular intelligents based on driver's body-sensing of 1-8 to turn to adjusting method after stating program information.
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