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Multi-intelligent agent based unmanned electric car automatic overtaking system and method

A technology for electric vehicles and unmanned driving, which is applied to vehicle components, input parameters of external conditions, control devices, etc., can solve the problems of independent distribution of multiple actuators and model uncertainty, and achieves the goal of overcoming the independent distribution of multiple actuators and overcoming model uncertainty. Uncertainty, comfort and the effect of combined driving performance

Active Publication Date: 2017-05-17
XIAMEN UNIV
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AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to provide feature information that can be effectively extracted by on-board sensing and V2X communication systems for the distribution of multiple independent actuators and model uncertainty in unmanned electric vehicles, so as to solve the multiple problems of the unmanned electric vehicle system. A multi-agent-based automatic overtaking system for unmanned electric vehicles to achieve safe and comfortable automatic overtaking for the independent distribution of actuators and model uncertainty

Method used

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  • Multi-intelligent agent based unmanned electric car automatic overtaking system and method

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Embodiment Construction

[0048] like figure 1 As shown, the described multi-agent based unmanned electric vehicle automatic overtaking system is provided with:

[0049] Vehicle-mounted sensor 1, the vehicle-mounted sensor 1 is used to collect road information ahead of the unmanned electric vehicle;

[0050] The road feature extraction module 2, the road feature extraction module 2 is used to input the road information in front of the driverless electric vehicle collected by the on-board sensor 1, and perform feature extraction on the collected image, and then calculate the road width in front of the vehicle in real time and other information.

[0051] The minimum safety distance analysis module 3, the minimum safety distance analysis module 3 is used to establish a minimum safety distance model that meets the automatic overtaking requirements of unmanned electric vehicles.

[0052] The overtaking path planning module 4, the overtaking path planning module 4 is used to set the sine function form as th...

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Abstract

The invention relates to a multi-intelligent agent based unmanned electric car automatic overtaking system and method. The automatic overtaking system includes a vehicle-mounted sensor for acquiring front traffic information of an unmanned electric car. The automatic overtaking method includes: establishing a minimize safe distance model on the basis of feature information of a car and a surround environment thereof extracted by a vehicle-mounted sensing system and a V2X communication system; setting a sine function form as a base function of an automatic overtaking desired path, and dynamically planning an automatic overtaking desired track of the unmanned electric car in real time; adopting a self-adaption fuzzy slide mode control technique to solve the desired speed and the desired yaw velocity of overtaking of the unmanned electric car on the basis of a deviation between the desired overtaking path and an actual path; adopting a multi-intelligent agent genetic optimization algorithm to calculate out the required longitudinal and horizontal force of each wheel of the unmanned electric car; and establishing a mapping model from the longitudinal and horizontal forces of the wheels of the unmanned electric car to the desired slip angle and slip rate, and achieving execution control of the longitudinal and horizontal force of tires the unmanned electric car.

Description

technical field [0001] The invention relates to an unmanned electric vehicle, in particular to a multi-agent-based automatic overtaking system and method for an unmanned electric vehicle. Background technique [0002] Unmanned electric vehicles are considered to be the main way to effectively improve road traffic capacity, enhance vehicle driving safety, and reduce vehicle fuel consumption, and have received extensive attention from domestic and foreign scientific research institutions. Automatic overtaking obtains the road condition information in front of the vehicle based on the on-board sensor, judges whether the traffic conditions are satisfactory for overtaking, dynamically plans the expected driving path in real time, and realizes the tracking control of the expected path, thereby completing automatic overtaking, which can effectively improve the driving efficiency of unmanned driving. Overall driving performance of the vehicle. [0003] Unmanned electric vehicles ar...

Claims

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Application Information

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IPC IPC(8): B60W30/18B60W40/105B60W40/06B60W50/00
CPCB60W30/18163B60W40/06B60W40/105B60W50/0098B60W2050/0043B60W2050/0075B60W2520/10B60W2552/00B60W2554/801
Inventor 郭景华王进
Owner XIAMEN UNIV
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