Automatic lane changing layered control system and method of intelligent electric automobile

A technology of intelligent electric vehicles and hierarchical control systems, applied in the direction of control devices, vehicle components, external condition input parameters, etc., can solve problems such as large amount of calculation, difficult to meet the real-time requirements of automatic lane change control system, and achieve guaranteed Robustness and real-time performance, comfortable and comprehensive driving performance, and effects of improving safety and real-time performance

Active Publication Date: 2017-10-27
XIAMEN UNIV
View PDF4 Cites 21 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The calculation amount of this method is relatively large, and it is difficu...

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Automatic lane changing layered control system and method of intelligent electric automobile
  • Automatic lane changing layered control system and method of intelligent electric automobile
  • Automatic lane changing layered control system and method of intelligent electric automobile

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0028] Combine below Figure 1~5 The intelligent electric vehicle automatic lane change control system and method of the present invention will be further described in detail.

[0029] The intelligent electric vehicle automatic lane-changing layered control system includes two aspects of lane-changing trajectory planning and lane-changing trajectory tracking. It includes a lane-changing trajectory planning module 2 , a lane-changing trajectory tracking module 4 , a deviation estimation module 3 , a data acquisition module 1 , a motor module 6 , and a steering module 5 . The present invention first collects the information of the vehicle itself and its surrounding environment through the on-board data acquisition module, uses polynomial fitting to obtain the expected lane-changing trajectory, and then designs the upper-level controller 41 of the lane-changing trajectory based on the Lyapunov theory to obtain the expected vehicle speed and front wheel angle, and according to th...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention relates to an automatic lane changing layered control system and method of an intelligent electric automobile. The layered control system is provided with a lane changing track programming and a lane changing track tracking, wherein dynamic programming of an intelligent electric automobile lane changing track is realized by the lane changing track programming through a manner of polynomial fit; the lane changing track tracking comprises an upper layer controller and a lower layer controller. The method comprises the following steps of obtaining a vehicle pose and road condition information through a vehicle data acquisition unit, so as to perform the programming of the lane changing track according to information of the pose of a current vehicle, the pose of a front vehicle and the like; and performing the lane changing track tracking; estimating the deviation between an actual pose of the intelligent electric automobile and the required expectation pose of a lane changing expectation track; establishing a deviation kinematics model of automatic lane changing of the intelligent electric automobile; based on the estimating deviation and the actual pose of the intelligent electric automobile, designing the upper layer controller based on a Lyapunov stability theory, determining a vehicle expectation speed V<c> and an expectation front wheel steering angle delta <c>, constructing an adaptive-blur PID controller, and determining a motor torque T required by a tracking expectation speed.

Description

technical field [0001] The invention relates to intelligent safety of automobiles, in particular to a layered control system and method for automatic lane change of intelligent electric vehicles. Background technique [0002] Smart electric vehicles are committed to improving the comprehensive performance of vehicle driving safety, energy saving, comfort and environmental protection. They are considered to be an effective means to solve problems such as environmental pollution, energy consumption and traffic safety. A comprehensive carrier of technology. Automatic lane changing is one of the typical applications for safe driving of smart electric vehicles. According to the surrounding car's own speed, the distance between the car and the surrounding cars and other environmental information, the automatic lane changing action of the car is realized through the set control logic, thereby comprehensively improving Vehicle safety, comfort and other driving performance. [0003...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
IPC IPC(8): B60W30/18B60W40/105B60W50/00
CPCB60W30/18163B60W40/105B60W50/00B60W2050/0043B60W2520/10B60W2554/801B60W2554/804B60W2710/083
Inventor 郭景华黄天骁王进王攀
Owner XIAMEN UNIV
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap