CN110871794A - Intelligent driving automobile path following method and intelligent driving automobile path following system - Google Patents
Intelligent driving automobile path following method and intelligent driving automobile path following system Download PDFInfo
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- CN110871794A CN110871794A CN201811010193.3A CN201811010193A CN110871794A CN 110871794 A CN110871794 A CN 110871794A CN 201811010193 A CN201811010193 A CN 201811010193A CN 110871794 A CN110871794 A CN 110871794A
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- 238000000034 method Methods 0.000 title claims abstract description 31
- 238000005516 engineering process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011217 control strategy Methods 0.000 description 1
- 230000004069 differentiation Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
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Classifications
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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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/10—Path keeping
- B60W30/12—Lane keeping
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
-
- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
-
- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/14—Yaw
-
- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/20—Sideslip angle
-
- 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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/18—Steering angle
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The application discloses an intelligent driving automobile path following method and an intelligent driving automobile path following system. In the intelligent driving automobile path following method, the driving of the automobile is controlled through the centroid slip angle and the yaw rate. According to the intelligent driving automobile path following method, the safety and the comfort of the intelligent driving automobile at the path following time can be improved.
Description
Technical Field
The invention relates to the field of automobiles, in particular to an intelligent driving automobile path following method and an intelligent driving automobile path following system.
Background
With the development of scientific technology, intelligent transportation systems are receiving more and more attention. The development of an advanced driver assistance system is helpful for improving the safety of the automobile and reducing traffic accidents caused by human reasons of drivers, thereby avoiding casualties of drivers and passengers or property loss caused by casualties.
A lane keeping assist system, which is one of active safety technologies, prevents lane departure accidents caused by inattention or misoperation of a driver by means of a steering system motor when a vehicle is about to depart from a target lane, thereby effectively reducing the labor intensity of the driver and realizing intelligent following of the vehicle.
Disclosure of Invention
The invention provides a path following method for an intelligent driving automobile, which can improve the safety and comfort of the intelligent driving automobile at the path following time.
According to one aspect of the present invention, there is provided an intelligent driving vehicle path following method in which the traveling of a vehicle is controlled by a centroid slip angle and a yaw rate.
According to the intelligent driving automobile path following method provided by the invention, the influence degree of the mass center slip angle and the yaw velocity on the driving of the automobile is controlled through the scale factor.
According to the intelligent driving automobile path following method provided by one aspect of the invention, the influence degree of the mass center slip angle and the yaw velocity on the driving of the automobile is controlled through the proportional factor, so that the accuracy of the following path is ensured at the low speed of the automobile, and the stability of the automobile is ensured at the high speed of the automobile.
According to the intelligent driving automobile path following method provided by one aspect of the invention, the driving of the automobile is subjected to adaptive PID control by adjusting the steering wheel angle.
According to the method for following the intelligent driving automobile path, the actual turning angle and the actual speed of the automobile are input into an automobile model, and then the driving of the automobile is controlled through the centroid side drift angle and the yaw angular speed.
According to the path following method for the intelligent driving automobile, the driving of the automobile is controlled in a closed loop mode through the centroid side drift angle and the yaw rate, and the driving of the automobile is controlled in a closed loop mode through the transverse distance error and the yaw angle error.
According to one aspect of the invention, the intelligent driving automobile path following system controls the driving of the automobile by using the intelligent driving automobile path following method.
According to an aspect of the present invention, there is provided an intelligent driving vehicle path following system, comprising:
a motor for performing steering of the automobile;
the controller is used for controlling the running of the automobile through the centroid slip angle and the yaw angular speed; and
and a scale factor regulator capable of controlling the degree of influence of the centroid slip angle and the yaw rate on the traveling of the automobile by the scale factor.
According to an aspect of the present invention, there is provided an intelligent driving vehicle path following system, comprising:
the sensor is used for measuring the transverse distance error and the yaw angle error of the actual position and the expected position of the automobile; and
and a PID controller which controls the running of the automobile by adjusting the steering wheel angle.
The beneficial effects of the invention include: the driving of the automobile is controlled through the mass center side slip angle and the yaw angular velocity, the intelligent following of the automobile is realized, the operation comfort and the safety of the automobile are considered, and the feeling of drivers and passengers is improved.
Drawings
The disclosure of the present invention is illustrated with reference to the accompanying drawings. It is to be understood that the drawings are designed solely for the purposes of illustration and not as a definition of the limits of the invention. In the drawings, like reference numerals are used to refer to like parts unless otherwise specified. Wherein:
fig. 1 schematically shows a flow of a method for following a path of an intelligent driving vehicle according to an embodiment of the present invention.
Detailed Description
It is easily understood that according to the technical solution of the present invention, a person skilled in the art can propose various alternative structures and implementation ways without changing the spirit of the present invention. Therefore, the following detailed description and the accompanying drawings are merely illustrative of the technical aspects of the present invention, and should not be construed as all of the present invention or as limitations or limitations on the technical aspects of the present invention.
In the following description, various parameters and components are described for different configurations of embodiments, and these specific parameters and components are only by way of example and do not limit the embodiments of the present application.
According to an embodiment of the present invention, in the intelligent driving vehicle path following method, the driving of the vehicle is controlled by the centroid slip angle and the yaw rate. The influence degree of the mass center slip angle and the yaw velocity on the driving of the automobile is controlled through the proportional factor, so that the accuracy of a following path is ensured when the automobile is at a low speed, and the stability of the automobile is ensured when the automobile is at a high speed. In addition, the driving of the vehicle is controlled by the lateral distance error and the yaw angle error. And carrying out self-adaptive PID control on the running of the automobile by adjusting the steering wheel angle.
For example, the actual turning angle and the actual vehicle speed of the vehicle may be first input into the vehicle model, and then the running of the vehicle may be controlled by the centroid slip angle and the yaw rate.
It is also possible, for example, to carry out closed-loop control of the travel of the vehicle by means of the centroid yaw angle and the yaw rate and by means of the lateral distance error and the yaw angle error.
The invention also provides an intelligent driving automobile path following system, which controls the running of the automobile by using the intelligent driving automobile path following method.
Further, the intelligent driving automobile path following system comprises: a motor for performing steering of the automobile; the controller is used for controlling the running of the automobile through the centroid slip angle and the yaw angular speed; and a scale factor adjuster capable of controlling the degree of influence of the centroid slip angle and the yaw rate on the traveling of the automobile by the scale factor. The intelligent driving automobile path following system further comprises: the sensor is used for measuring the transverse distance error and the yaw angle error of the actual position and the expected position of the automobile; and a PID controller that controls the traveling of the automobile by adjusting the steering wheel angle.
The following explains a route following method of an intelligent driving vehicle and a route following system of an intelligent driving vehicle according to an embodiment of the present invention with reference to the drawings.
The intelligent vehicle following system considered by the invention realizes the control of the vehicle body while realizing the vehicle following path through self-adaptive PID control under the existing planning path (including automatic lane change, lane keeping, lane centering and the like), and realizes the control of the safety and comfort of the vehicle operation by tracking the lateral deviation angle and the yaw angular speed of the vehicle body and introducing the steering wheel turning angle of closed-loop feedforward. The basic control concept is shown in fig. 1.
The whole control system is divided into two parts, an outer layer controller tracks the path through a sensor (radar and a camera) arranged on the vehicle, once the vehicle deviates from the tracked path, the self-adaptive PID adjusts the whole vehicle, and the accurate following of the existing path is realized by adjusting the steering wheel corner. Therefore, for the outer layer controller, the deviation of the actual position of the vehicle from the desired position (lateral distance error, yaw angle error) is of concern, in other words, it does not take into account the control stability of the entire vehicle and the subjective perception of the driver and the passengers. In high speed or wide angle vehicle turns, the desired control result is to avoid excessive lateral acceleration, so that the rider feels as smooth as possible. To this end, the present invention introduces an internal controller that introduces optimal control of the centroid yaw angle and yaw rate by tracking the ideal centroid yaw angle and yaw rate. Therefore, the intelligent following of the automobile is realized, and the operation stability and the comfort are improved.
The vehicle path intelligent following system scheme considering the whole vehicle comfort control is provided, and the risk of the real vehicle experiment is reduced through the theoretical analysis of a system platform in the early stage; when realizing that car intelligence is followed, consider the operation travelling comfort and the security of car, improve driver and crew's impression.
By introducing the adjustable scale factor, the differentiated control strategy is adopted when the vehicle is at high and low speeds. The method is used for pursuing the path following precision at low speed and simultaneously considering the stability of the vehicle when pursuing the precision at high speed, so that the optimal solution is sought in the two aspects of path following and whole vehicle comfort control.
An ideal vehicle body two-degree-of-freedom motion state equation is established by considering an ideal linear two-degree-of-freedom vehicle model
In the formula
In the adjustment of the attitude, the control of the mass center side slip angle and the yaw angular velocity of the whole vehicle is not considered, the ideal mass center side slip angle and the ideal yaw angular velocity are introduced into a control system, and the tracking control of the mass center side slip angle and the yaw angular velocity of the vehicle is realized by utilizing the optimal control.
Considering the ideal vehicle's centroid yaw angle and yaw rate versus the steering gain of the vehicle's steering wheel is as follows:
wherein the content of the first and second substances,
the differential control of the high speed and the low speed of the vehicle can be realized. Can be directly set at low speed
. At high speed, the optimal proportion parameter which gives consideration to both comfort and safety can be found through calibration.
In one example of the steering angle adjustment control using the intelligent driving vehicle path following method according to the present invention, assuming that the steering wheel angle is a sine-like wave, the proportional adjustment factor is set to a constant, and the actual steering wheel angle after the control will be suppressed to some extent. Accordingly, the yaw rate and the centroid slip angle of the entire vehicle also tend to be more stable than before.
The intelligent driving automobile path following method and the intelligent driving automobile path following system have the advantages that:
1. based on an LQR optimal control theory, the mass center side deviation angle and the yaw angular velocity of the whole automobile are introduced to serve as control targets, and the safety and the comfort of the intelligent driving automobile during path tracking are realized through tracking control over the mass center side deviation angle and the yaw angular velocity of the automobile. Particularly, the stability of the vehicle body can be considered at the same time when the vehicle turns sharply at a high speed, and a certain optimized adjustment effect is realized on the transverse control of the whole vehicle.
2. By introducing the scale factor, the differentiation control of the vehicle at high and low speeds is realized, the accuracy of the following path is pursued at low speed, and the safety and stability of the vehicle are considered while the accuracy of the following path is pursued at high speed.
3. When the vehicle automatically follows a path, double-layer closed-loop control is adopted, PID control is adopted for an outer-layer path closed loop, stability of the vehicle body is considered for an inner-layer corner closed loop, and control over yaw rate and mass center side slip angle of the vehicle is achieved by introducing an LQR control method.
4. When the vehicle safety stability control is considered, an ideal yaw rate and a centroid slip angle are selected as references, and a steady-state yaw rate gain and the ideal centroid slip angle are calculated based on a two-degree-of-freedom vehicle dynamics model.
The technical scope of the present invention is not limited to the above description, and those skilled in the art can make various changes and modifications to the above-described embodiments without departing from the technical spirit of the present invention, and such changes and modifications should fall within the protective scope of the present invention.
Claims (10)
1. An intelligent driving automobile path following method is characterized in that in the intelligent driving automobile path following method, the driving of an automobile is controlled through a mass center slip angle and a yaw rate.
2. The intelligent driving vehicle path following method according to claim 1, wherein the degree of influence of the centroid slip angle and the yaw rate on the driving of the vehicle is controlled by a scale factor.
3. The intelligent driving automobile path following method according to claim 2, wherein the influence degree of the centroid slip angle and the yaw rate on the driving of the automobile is controlled by a scale factor, so that the accuracy of the following path is ensured at low speed of the automobile, and the stability of the automobile is ensured at high speed of the automobile.
4. The intelligent driving automobile path following method according to claim 1, wherein the driving of the automobile is controlled by a lateral distance error and a yaw angle error.
5. The intelligent driving automobile path following method according to claim 4, wherein the driving of the automobile is adaptively PID controlled by adjusting the steering wheel angle.
6. The intelligent driving vehicle path following method according to claim 1, wherein an actual turning angle and an actual vehicle speed of the vehicle are input to the vehicle model, and then the driving of the vehicle is controlled by the centroid yaw angle and the yaw rate.
7. The intelligent-drive automobile path following method according to claim 1, wherein the driving of the automobile is closed-loop controlled by a centroid yaw angle and a yaw rate, and the driving of the automobile is closed-loop controlled by a lateral distance error and a yaw angle error.
8. An intelligent driving automobile path following system, which is characterized in that the intelligent driving automobile path following system controls the driving of an automobile by using the intelligent driving automobile path following method according to any one of claims 1 to 7.
9. The intelligent driving vehicle path following system according to claim 8, comprising:
a motor for performing steering of the automobile;
the controller is used for controlling the running of the automobile through the centroid slip angle and the yaw angular speed; and
and a scale factor regulator capable of controlling the degree of influence of the centroid slip angle and the yaw rate on the traveling of the automobile by the scale factor.
10. The intelligent driving vehicle path following system according to claim 8, comprising:
the sensor is used for measuring the transverse distance error and the yaw angle error of the actual position and the expected position of the automobile; and
and a PID controller which controls the running of the automobile by adjusting the steering wheel angle.
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Cited By (3)
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| CN111674402A (en) * | 2020-05-12 | 2020-09-18 | 坤泰车辆***（常州）有限公司 | Method for controlling action of steering wheel with lane centering auxiliary function of automatic driving system |
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| CN112622903A (en) * | 2020-10-29 | 2021-04-09 | 东北大学秦皇岛分校 | Longitudinal and transverse control method for autonomous vehicle in vehicle following driving environment |
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Application publication date: 20200310 |