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Multi-objective hierarchical collaborative control and optimization method for vehicles with driving intentions

A technology of driving intention and cooperative control, applied in the direction of control devices, etc., can solve problems such as crashing and driving off the road

Active Publication Date: 2018-11-09
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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AI Technical Summary

Problems solved by technology

The current mainstream active anti-rollover safety technology mainly uses active steering and differential braking technology. Although it can reduce the risk of vehicle rollover, these two technologies will change the vehicle's deviation from the driver's driving intention and cause a crash. For secondary hazards such as driving out of the road, it is necessary to study the multi-objective hierarchical cooperative control and optimization method of the car considering the driver's intention, so as to comprehensively improve the driving safety of the car

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  • Multi-objective hierarchical collaborative control and optimization method for vehicles with driving intentions
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  • Multi-objective hierarchical collaborative control and optimization method for vehicles with driving intentions

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Embodiment Construction

[0104] The technical solution of the present invention will be further described in detail below in conjunction with the accompanying drawings.

[0105] Such as figure 1 As shown, the present invention discloses a multi-objective layered cooperative control and optimization method for automobiles fused with driving intentions, comprising the following steps:

[0106] S1. Establish a driver's steering intention recognition model. Specifically include the following sub-steps:

[0107] S11. Select the characteristic parameter group composed of the steering wheel angle and the rate of change of the steering wheel, and identify the three driving intentions of cruising, normal steering and emergency steering.

[0108] The steering wheel angle value is used to determine whether a steering behavior occurs at this time, and the steering wheel angle change rate is mainly used to determine whether it is a sharp steering behavior at this time.

[0109] S12, as an embodiment, such as ...

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Abstract

The invention discloses a multi-objective hierarchical collaborative control and optimization method for vehicles with driving intentions. The method comprises the following steps: S1, establishing adriver steering intention recognition model; S2, establishing a nonlinear eight-degree-of-freedom vehicle preview prediction model; S3, establishing a predicted load transfer rate PLTR based on the preview driver model; S4, establishing a multi-objective hierarchical coordinated control system for the whole vehicle; S5, performing multi-objective genetic algorithm optimization with vehicle path tracking and rollover stability as the objective function. The method of the invention is simple, easy to implement and has good application prospects.

Description

technical field [0001] The invention belongs to the technical field of automobile active safety, and in particular relates to an automobile multi-objective layered cooperative control and optimization method which fuses driving intentions. Background technique [0002] According to the statistical report of the U.S. National Highway Traffic Safety Administration (NHTSA), in automobile accidents, the degree of injury of rollover accidents is second only to collision accidents, and the death rate caused by them is as high as 33%. 90% of non-collision accidents are caused by vehicle rollovers. Judging from the post-event analysis of rollover accidents, most of the reasons are due to the improper operation of the driver in the face of an emergency, so the research on the driver itself is very urgent. [0003] In the research of driver modeling, at present, appropriate driver behavior models are mainly established from different perspectives and methods, and there is a lack of r...

Claims

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Application Information

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IPC IPC(8): B60W50/00B60W10/20B60W10/18B60W10/22
CPCB60W10/18B60W10/20B60W10/22B60W50/00B60W2050/0019B60W2520/10B60W2520/12B60W2520/125B60W2520/28B60W2710/18B60W2710/20B60W2710/22
Inventor 赵又群李海青张桂玉闫茜葛召浩
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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