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A kind of automatic driving vehicle active anti-sickness assisted driving control method

A technology for assisted driving and automatic driving, applied in the direction of control devices, etc., can solve the problems of complex online calculation, abstract understanding, and difficulty in implementation, and achieve the effects of simple online implementation, alleviation of motion sickness, and strong practicability.

Active Publication Date: 2020-06-02
ZHEJIANG UNIV OF TECH
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Problems solved by technology

[0003] In order to overcome the shortcomings of abstract understanding, complex online calculation and difficult implementation of the active anti-motion sickness auxiliary driving control method during the driving process of the automatic driving vehicle, the present invention provides an active anti-motion sickness auxiliary driving control for automatic driving vehicles that is intuitive to understand, simple in design, and easy to implement method

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  • A kind of automatic driving vehicle active anti-sickness assisted driving control method
  • A kind of automatic driving vehicle active anti-sickness assisted driving control method
  • A kind of automatic driving vehicle active anti-sickness assisted driving control method

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Embodiment Construction

[0025] The method of the present invention will be described in further detail below in conjunction with the accompanying drawings.

[0026] refer to Figure 1 ~ Figure 3 , an automatic driving vehicle active anti-motion sickness assisted driving control method, the method includes the following steps:

[0027] 1) The active anti-motion sickness assisted driving control problem of an autonomous vehicle is described as a dynamic optimal control problem, see formula (1):

[0028]

[0029] Among them, the symbol "s.t." means "constraint"; the variable k means the sampling time; i|k means the prediction time of the corresponding variable at k time to the future k+i time; the constants N>0, β>0 and T s >0 respectively represent the prediction step size, compression factor and sampling interval of the active anti-motion sickness assisted driving controller; s(k), v(k), a c (k) respectively represent the position, speed and acceleration command of the vehicle at the current mome...

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Abstract

The invention provides an active anti-carsickness assistant driving control method of an autonomous vehicle. To solve the problem that passengers of the autonomous vehicle are easy to get carsick, thetaking comfort of the autonomous vehicle is improved to prevent a phenomenon that the passengers get carsick; by establishing an optimization control problem with carsickness prevention as an evaluation index, calculating a feasible interval of a command accelerated speed on line, calculating an accelerated speed optimal value by using a MatLab command function fmincon and dynamically calculatingan accelerated speed command which meets active carsickness prevention, the active anti-carsickness assistant driving control of the autonomous vehicle is realized. The active anti-carsickness assistant driving control method of the autonomous vehicle has the advantages of less design parameters, simple design, easy understanding, simple and convenient online implementation and high practicability.

Description

technical field [0001] The invention belongs to the field of vehicle automatic driving control, and relates to an automatic driving vehicle active anti-motion sickness auxiliary driving control method. Background technique [0002] Motion sickness is a common problem for drivers and passengers. The main reason for motion sickness is: the confusion between the balance system and vision of the human brain, and the brain's inability to quickly and accurately predict the direction of motion. As a result, the brain cannot control itself when the direction of vehicle motion changes. Passengers in self-driving vehicles are even more unable to judge the running status of the vehicle, especially when reading books in the car or using handheld devices to watch movies or play games, the symptoms of motion sickness will be aggravated. As autonomous driving becomes more and more popular, drivers also become passengers for a certain period of time, and the above-mentioned causes of motion...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B60W50/00
CPCB60W50/0098B60W2050/0019
Inventor 何德峰侍宇洁宋秀兰余世明倪洪杰
Owner ZHEJIANG UNIV OF TECH
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