Automobile direction intelligent control method and control system based on driver model

An intelligent control system and driver model technology, applied to automatic steering control components, steering mechanisms, steering rods, etc., can solve problems such as large amount of optimization calculation, unclear physical concepts, and low tracking accuracy

Inactive Publication Date: 2014-03-19
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology

However, when it turns at high speed, the tracking accuracy is not high and the steering fluctuation phenomenon occurs, so its application at high speed has certain limitations; the LQR model adopts the optimization method, the theo...

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  • Automobile direction intelligent control method and control system based on driver model
  • Automobile direction intelligent control method and control system based on driver model
  • Automobile direction intelligent control method and control system based on driver model

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Embodiment Construction

[0034] The technical scheme of the present invention is described in detail below in conjunction with accompanying drawing:

[0035] The core of the vehicle direction intelligent control system based on the driver model of the present invention lies in the established driver model, which observes the external road conditions through the observation system (such as the image acquisition device, radar, etc. The internal sensor / observer detects the car's own state information, and the driver model calculates and outputs the steering wheel angle based on the observed road information and the detected state of the car itself, and controls the steering wheel of the car according to the steering wheel angle, so as to achieve accurate reflection Smart car direction closed-loop control of driver's driving behavior.

[0036] The driver model established by the present invention is as figure 1 shown, including:

[0037] The preview module processes the road information observed by the ...

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Abstract

The invention discloses an automobile direction intelligent control method based on a driver model. The method includes the steps of firstly, predicting a position where an automobile can reach after a moment T of a preview period according to the current running state of the automobile, comparing the position with a target position after the moment T, obtaining deviation of the two positions, obtaining the ratio of the deviation and T to serve as a predicted automobile transverse velocity, and then comparing the predicted automobile transverse velocity with an actual automobile transverse velocity to obtain a predicted automobile transverse velocity difference; secondly, obtaining a steering wheel turning angle through calculation, and controlling an automobile steering wheel according to the obtained steering wheel turning angle. The invention further discloses an automobile direction intelligent control system based on the drive model. The system comprises a preview module, a prediction module, a comparing module, a calculation module and a control module. Compared with the prior art, parameters of the driver model built in the method are directly obtained through parameters of the whole automobile, the driver module has the advantages of being simple in parameter and clear in physical meaning, and control of the automobile is more accurate and real.

Description

technical field [0001] The invention relates to an automobile intelligent control method, in particular to an automobile direction intelligent control method and control system based on a driver model, and belongs to the technical field of automatic control. Background technique [0002] With the advancement of science and technology and the improvement of social level, people's demand for cars is increasing, and the number of private cars has increased year by year, which has caused traffic safety problems to become increasingly prominent. This situation is particularly evident in our country, where the number of deaths due to traffic safety accidents has ranked first in the world for ten consecutive years. Therefore, the issue of vehicle safety becomes critical. [0003] In order to solve traffic safety problems, it is not only necessary to pay attention to the formulation of various traffic safety regulations, but also to study intelligent transportation systems, smart c...

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Application Information

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IPC IPC(8): B62D6/00B62D101/00B62D113/00
Inventor 谭运生沈峘黄满洪毛建国
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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