CN110435647A - A kind of vehicle safety anticollision control method of the TTC based on rolling optimization parameter - Google Patents

A kind of vehicle safety anticollision control method of the TTC based on rolling optimization parameter Download PDF

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CN110435647A
CN110435647A CN201910680305.4A CN201910680305A CN110435647A CN 110435647 A CN110435647 A CN 110435647A CN 201910680305 A CN201910680305 A CN 201910680305A CN 110435647 A CN110435647 A CN 110435647A
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acceleration
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郭烈
孙大川
岳明
陈俊杰
赵一兵
李琳辉
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Dalian University of Technology
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    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
    • 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
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    • 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
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    • B60W40/105—Speed
    • 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
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    • B60W40/10—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 vehicle motion
    • B60W40/107—Longitudinal acceleration
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
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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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/0098—Details of control systems ensuring comfort, safety or stability not otherwise provided for
    • 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
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    • B60W50/08—Interaction between the driver and the control system
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Abstract

The invention discloses the vehicle safety anticollision control methods of TTC based on rolling optimization parameter a kind of, control location information, velocity information and acceleration information that vehicle obtains target carriage by onboard sensor, and self information is input to computing module, obtain the information such as two following distances, two workshop relative velocities and control vehicle acceleration, and carry out rolling optimization calculating, under objective function and constraint conditioning, the stronger parameter of better performances, robustness is obtained, and is input in second order TTC anticollision time model and carries out judgement calculating.The performance indicator that the present invention is optimized by rolling optimization algorithm is compared with the performance indicator without optimization, performance indicator numerical value is after rolling optimization, under the action of objective function and constraint condition, it is more in line with actual conditions, it can predict the movement of target carriage subsequent time, control vehicle correspondingly makes movement, prevents from colliding, accuracy with higher can calculate the TTC numerical value at current time very well.

Description

A kind of vehicle safety anticollision control method of the TTC based on rolling optimization parameter
Technical field
The present invention relates to a kind of automatic Pilot brake control art, especially a kind of TTC's based on rolling optimization parameter Vehicle safety anticollision control method.
Background technique
With the rise of automatic Pilot technology, the sharp increase of car ownership leads to that traffic environment is severe, traffic safety hidden danger The problems such as it is increasingly prominent, wherein collision prevention of vehicle control already become automatic Pilot field in research emphasis.Complicated traffic ring Border and driver may cause serious traffic to the erroneous judgement of safety collision distance and endanger.
Safety anticollision system main operational principle in Vehicular automatic driving technology is: control vehicle by vehicle-mounted radar with And it includes that positional distance information, velocity information, acceleration information etc. are a series of that the various kinds of sensors such as camera, which obtain target vehicle, Information.Then by the information input of target vehicle into vehicle control syetem, vehicle control syetem can be according to control vehicle at present Motion state and the information of target carriage slowed down or braked judgement, and will judge that signal is input to vehicle-mounted executing agency. This completes an anticollision control processes.
Currently in vehicle safety anticollision control method, be no lack of have driver take aim in advance algorithm, safety collision distance algorithm, Safety collision time algorithm etc..Driver take aim in advance algorithm be mainly rely on driver self-consciousness judgement, when the external world exist compared with Big interference will cause driver and take aim at the biggish error of algorithm generation in advance, cannot ensure the accuracy of safety anticollision system；Safety Collision distance algorithm is mainly based on calculated braking distance, calculated braking distance stage by stage, and calculation amount is larger, can make anticollision The real-time of system reduces；Safety collision time algorithm mainly calculates collision time to determine whether carrying out Anticollision Measures, but Occur infinitely great situation there may be collision time, is unfavorable for the judgement at current time, accuracy is lower.Therefore peace is ensured The accuracy and real-time of full anti-collision control system are current one of difficulties.
Summary of the invention
To solve the above problems existing in the prior art, the present invention design it is a kind of guarantee accuracy and real-time based on rolling The vehicle safety anticollision control method of the TTC of dynamic Optimal Parameters.
To achieve the goals above, technical scheme is as follows: a kind of vehicle of the TTC based on rolling optimization parameter Anticollision control method, comprising the following steps:
A, second order TTC collision model is established
The index of vehicle safety anticollision time model is point of impingement time, abbreviation TTC.TTC initial definition is that two vehicles are protected Current vehicle speed is held to travel until the required time that collides, for judging the foundation of hazardous collision, its calculation formula is:
In formula, Δ x is the relative distance controlled between vehicle and target carriage, vrelIt is opposite between control vehicle and target carriage Speed,For the relative acceleration between control vehicle and target carriage, above-mentioned parameter is detected to obtain by onboard sensor.
B, state-space model is established
One of an important factor for identification to the longitudinally opposed distance of control vehicle and target carriage is safety anticollision system, two vehicles Between positional relationship formula it is as follows:
Δ x (k)=xo(k)-xc(k) (2)
In formula, Δ x (k) is two vehicle physical location distances, xoIt (k) is kth moment target truck position, xcIt (k) is the kth moment Control truck position.
Control vehicle acceleration a is obtained according to discrete differential principlec(k) as follows:
In formula, vcIt (k) is the speed for controlling vehicle at the kth moment, vc(k-1) speed of vehicle is controlled for -1 moment of kth.T is safety The sampling time of anti-collision system,.
If actual control vehicle acceleration and desired control vehicle acceleration meet following relational expression:
In formula, τ is the control time coefficient of safety anticollision system, and u (k) is the expectation acceleration at kth moment.Arrangement obtains Following discrete motion equation:
vrel(k+1)=vrel(k)+ao(k)·T-ac(k)·T (6)
vc(k+1)=vc(k)+ac(k)·T (7)
Using target carriage acceleration as the disturbance quantity of state-space model, pass through the control conduct of the acceleration to control vehicle The robustness and control precision for improving state-space model, choose two following distance Δ x, regulation speed degree vc(k), two workshops are opposite Speed vrel(k) and control vehicle acceleration ac(k) it is used as quantity of state.
It is obtained according to formula (5)-(8):
X (k+1)=Ax (k)+Bu (k)+G λ (k) (9)
Wherein:
X (k)=[Δ x (k), vc(k),vrel(k),ac(k)]T
Two following distances, regulation speed degree, two workshop relative velocities and control vehicle acceleration are chosen as optimality criterion, The output equation of state-space model are as follows:
Y (k)=Cx (k) (10)
Wherein:
Y (k)=[Δ x (k), vc(k),vrel(k),ac(k)]T
According to formula (9), that (10) obtain state-space model is as follows:
C, rolling optimization calculates
It mainly includes three features: prediction model, rolling optimization, feedback compensation that rolling optimization, which calculates,.If current time is In control process, there is an it is expected reference locus always in k, using moment k as current time, in conjunction with current measured value with Prediction model is obtained a series of in control time domain [k, k+p] by solving the problem of meeting objective function and constrained optimization Control sequence, and using first element of control sequence as the practical control amount of controll plant, when proceeding to subsequent time k+1 It carves, repeats the above process, carry out rolling optimization calculating, realize the lasting control to control target, the specific steps are as follows:
The quantity of state in prediction time domain is measured in advance by state-space model:
Wherein:
Prediction matrix is as follows:
Define desired output are as follows:
In order to make can optimality criterion approach desired numerical value, consider following optimization problem:
In formula, J is that objective function indicates that symbol, p are control time domain, ΓyFor weight coefficient, diagonal matrix.
The limitation of physical condition must be taken into consideration in above-mentioned optimization problem, it is therefore desirable to carry out numerical value to optimizable performance indicator Constraint, constrain respectively performance Optimal Parameters: two following distances are maintained at that safety collision distance is outer, and regulation speed is maintained at Most between value, two vehicle relative velocities are maintained between most value and control vehicle acceleration and are maintained between most value.
Therefore entire rolling optimization calculates the optimization problem and constraint condition considered are as follows:
Subject to
Δx(k)≥ds
vcmin≤vc(k)≤vcmax
vrelmin≤vrel(k)≤vrelmax
acmin≤ac(k)≤acmax
In formula, dsFor safety collision distance；vcminAnd vcmaxThe respectively minimum value and maximum value of regulation speed degree；vrelmin And vrelmaxThe respectively minimum value and maximum value of two workshop relative velocities；acminAnd acmaxRespectively control the minimum of vehicle acceleration Value and maximum value.
By the calculated two following distances Δ x of rolling optimization, regulation speed degree vc, two workshop relative velocity vrelWith control vehicle Acceleration acBe input in second order TTC anticollision time model shown in formula (1) and collision time TTC be calculated, and with it is pre- The time threshold first set is compared.According to commerial vehicle AEBs testing standard, when calculated value is greater than threshold value 4.4s, control Vehicle normally travel processed, does not issue anti-collision warning；When calculated value is between 1.4s-4.4s, control vehicle issues anti-collision warning；Work as calculating When value is less than threshold value 1.4s, control vehicle arrestment mechanism receives deceleration automatically or braking instruction carries out deceleration or the braking row of vehicle To prevent vehicle from colliding.
Compared with prior art, the invention has the following advantages:
1, the performance indicator that is optimized by rolling optimization algorithm of the present invention is compared with the performance indicator without optimization, Performance indicator numerical value is after rolling optimization, under the action of objective function and constraint condition, is more in line with actual conditions, can Predict the movement of target carriage subsequent time, control vehicle correspondingly makes movement, prevents from colliding, accuracy with higher can The TTC numerical value at current time is calculated very well.
2, present invention incorporates rolling optimization algorithms and second order safety collision time model, so that safety collision time model Robustness with higher, so that safety collision time model is well adapted for complicated operating condition.
3, present invention incorporates rolling optimization algorithms and second order safety collision time model, have preferable real-time, can Row is strong.
Detailed description of the invention
Fig. 1 is longitudinal direction of car position view.
Fig. 2 is rolling optimization algorithm principle figure.
Fig. 3 is flow chart of the invention.
Specific embodiment
The present invention is further described through with reference to the accompanying drawing.
The present invention is mainly by optimizing each parameter of second order TTC, so that each parameter is in objective function and constraint condition Under the action of, better performances are obtained, the parameter with good robustness.As shown in Figure 1, by control vehicle and target truck position Relationship analysis, obtains the positional distance relationship between two vehicles, obtains discrete motion equation in conjunction with velocity and acceleration formula.It is right Discrete motion equation analysis constructs state-space model.
As shown in Fig. 2, by predicting state-space model, obtain the data of subsequent time control vehicle, by It is poor with reference locus data work after line feedback compensation, obtain objective function；Calculating is optimized under the constraint of constraint condition, is obtained To a series of control sequences of subsequent time, i.e. control output.Control sequence feeds back original prediction model, so carries out, Form rolling optimization process, i.e. rolling optimization algorithm.Due to the real-time of the rolling optimization of this algorithm, the property by optimization is obtained Energy parameter, has ensured the anti-interference robustness of second order TTC anticollision model, has improved the essence of second order TTC anticollision model Exactness and real-time.
As shown in figure 3, integral operation process are as follows: control vehicle obtains location information, the speed of target carriage by onboard sensor Information and acceleration information are spent, target carriage information and own vehicle information are input in rolling optimization algorithm frame, by rolling The parameter of dynamic optimization is input in second order TTC model, and second order TTC model is calculated using the parameter after optimization, obtains anticollision Information input drives control vehicle to carry out a series of Anticollision Measures into control vehicle.
The present invention is not limited to the present embodiment, any equivalent concepts within the technical scope of the present disclosure or changes Become, is classified as protection scope of the present invention.

Claims (1)

1. a kind of vehicle safety anticollision control method of the TTC based on rolling optimization parameter, it is characterised in that: including following step It is rapid:
A, second order TTC collision model is established
The index of vehicle safety anticollision time model is point of impingement time, abbreviation TTC；TTC initial definition is that the holding of two vehicles is worked as Preceding speed traveling is until the required time that collides, for judging the foundation of hazardous collision, its calculation formula is:
In formula, Δ x is the relative distance controlled between vehicle and target carriage, vrelTo control the relative velocity between vehicle and target carriage,For the relative acceleration between control vehicle and target carriage, above-mentioned parameter is detected to obtain by onboard sensor；
B, state-space model is established
One of an important factor for identification to the longitudinally opposed distance of control vehicle and target carriage is safety anticollision system, between two vehicles Positional relationship formula it is as follows:
Δ x (k)=xo(k)-xc(k) (2)
In formula, Δ x (k) is two vehicle physical location distances, xoIt (k) is kth moment target truck position, xc(k) it is controlled for the kth moment Truck position；
Control vehicle acceleration a is obtained according to discrete differential principlec(k) as follows:
In formula, vcIt (k) is the speed for controlling vehicle at the kth moment, vc(k-1) speed of vehicle is controlled for -1 moment of kth；T is anticollision The sampling time of system,；
If actual control vehicle acceleration and desired control vehicle acceleration meet following relational expression:
In formula, τ is the control time coefficient of safety anticollision system, and u (k) is the expectation acceleration at kth moment；Arrangement obtains as follows Discrete motion equation:
vrel(k+1)=vrel(k)+ao(k)·T-ac(k)·T (6)
vc(k+1)=vc(k)+ac(k)·T (7)
Using target carriage acceleration as the disturbance quantity of state-space model, by the control of the acceleration to control vehicle as raising The robustness and control precision of state-space model, choose two following distance Δ x, regulation speed degree vc(k), two workshop relative velocity vrel(k) and control vehicle acceleration ac(k) it is used as quantity of state；
It is obtained according to formula (5)-(8):
X (k+1)=Ax (k)+Bu (k)+G λ (k) (9)
Wherein:
X (k)=[Δ x (k), vc(k),vrel(k),ac(k)]T
Two following distances, regulation speed degree, two workshop relative velocities and control vehicle acceleration are chosen as optimality criterion, state The output equation of spatial model are as follows:
Y (k)=Cx (k) (10)
Wherein:
Y (k)=[Δ x (k), vc(k),vrel(k),ac(k)]T
According to formula (9), that (10) obtain state-space model is as follows:
C, rolling optimization calculates
It mainly includes three features: prediction model, rolling optimization, feedback compensation that rolling optimization, which calculates,；If current time is k, control During system, there is an expectation reference locus always, using moment k as current time, in conjunction with current measured value and prediction Model obtains a series of control in control time domain [k, k+p] by solving the problem of meeting objective function and constrained optimization Sequence, and using first element of control sequence as the practical control amount of controll plant, proceed to the subsequent time k+1 moment, It repeats the above process, carries out rolling optimization calculating, realize the lasting control to control target, the specific steps are as follows:
The quantity of state in prediction time domain is measured in advance by state-space model:
Wherein:
Prediction matrix is as follows:
Define desired output are as follows:
In order to make can optimality criterion approach desired numerical value, consider following optimization problem:
In formula, J is that objective function indicates that symbol, p are control time domain, ΓyFor weight coefficient, diagonal matrix；
The limitation of physical condition must be taken into consideration in above-mentioned optimization problem, it is therefore desirable to the pact of numerical value is carried out to optimizable performance indicator Beam respectively constrains performance Optimal Parameters: two following distances are maintained at outside safety collision distance, and regulation speed, which is maintained at, to be most worth Between, two vehicle relative velocities are maintained between most value and control vehicle acceleration and are maintained between most value；
Therefore entire rolling optimization calculates the optimization problem and constraint condition considered are as follows:
Subject to
Δx(k)≥ds
vcmin≤vc(k)≤vcmax
vrelmin≤vrel(k)≤vrelmax
acmin≤ac(k)≤acmax
In formula, dsFor safety collision distance；vcminAnd vcmaxThe respectively minimum value and maximum value of regulation speed degree；vrelminWith vrelmaxThe respectively minimum value and maximum value of two workshop relative velocities；acminAnd acmaxRespectively control the minimum value of vehicle acceleration And maximum value；
By the calculated two following distances Δ x of rolling optimization, regulation speed degree vc, two workshop relative velocity vrelWith control vehicle acceleration acBe input in second order TTC anticollision time model shown in formula (1) and collision time TTC be calculated, and with preset Good time threshold is compared；According to commerial vehicle AEBs testing standard, when calculated value is greater than threshold value 4.4s, control vehicle is just Often traveling, does not issue anti-collision warning；When calculated value is between 1.4s-4.4s, control vehicle issues anti-collision warning；When calculated value is less than When threshold value 1.4s, control vehicle arrestment mechanism receives deceleration automatically or braking instruction carries out deceleration or the braking action of vehicle, prevents Vehicle collides.
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CN110979326A (en) * 2019-12-24 2020-04-10 武汉理工大学 Intelligent network-connected electric vehicle output torque calculation method
CN112046455A (en) * 2020-09-21 2020-12-08 武汉大学 Automatic emergency braking method based on vehicle quality identification
CN112046454A (en) * 2020-09-21 2020-12-08 武汉大学 Automatic emergency braking method based on vehicle environment recognition
CN112525547A (en) * 2020-11-24 2021-03-19 东风汽车集团有限公司 Test and method for automatic emergency braking system and collision early warning system
CN113044012A (en) * 2021-04-12 2021-06-29 东风商用车有限公司 Brake control method, device, equipment and storage medium for semi-trailer train
CN114132310A (en) * 2021-12-10 2022-03-04 合肥保航汽车科技有限公司 Front collision early warning method
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