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

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...

AI Technical Summary

Problems solved by technology

The calculation amount of this method is relatively large, and it is difficult to meet the real-time requirements of the automatic lane change control system.

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