Transverse dynamic control method for intelligent car in driving process based on driver characteristics

Abstract

The invention discloses a transverse dynamic control method for an intelligent car in the driving process based on driver characteristics. The transverse dynamic control method comprises the followingsteps that step 1, a two-degree-of-freedom car dynamics model is established as a reference model; step 2, a driver model reflecting the operating characteristics of a driver is established; step 3,a pre-targeted link is established; step 4, a closed-loop control system is established according to the reference model, the driver model and the pre-targeted link; step 5, a zero-order holder is used for discretizing the established closed-loop control system; step 6, a least square identification function is established; and step 7, the loss function for minimizing the position of the car is used as a target, the pre-targeted time is determined according to the delay time and the inertia time, the pre-targeted distance is determined through the preview time, and then the delay time and theinertia time are calculated iteratively, so that the purpose of dynamically determining all parameters is achieved. According to the transverse dynamic control method for the intelligent car in the driving process based on the driver characteristics, the consistency of the models during path following is ensured, and meanwhile, the riding comfort is improved.

Description

technical field [0001] The invention belongs to the field of motion control of intelligent automobiles, and in particular relates to a lateral dynamic control method in the driving process of intelligent automobiles based on driver characteristics. Background technique [0002] With the gradual in-depth research of autonomous driving technology, the lateral and longitudinal control of vehicles is gradually developing in a more in-depth direction. The lateral control of vehicles is one of the key technologies for autonomous driving. The movement of the vehicle through the lateral position can help the vehicle to perform a series of related operations such as turning, avoiding obstacles and changing lanes. The vehicle's lateral position controlled by previewing the road ahead information has a good consistency for path tracking. According to the literature and simulation, the selection of the preview time has a significant impact on the accuracy of path tracking, vehicle hand...

AI Technical Summary

Problems solved by technology

This method is only based on road information and vehicle information, and the lower controller is controlled by the reference synovium. Although it can realize vehicle path tracking and self-adaptation of preview time, it cannot reflect the actual physiological process of the driver driving the vehicle. Not only that, in the case of a certain vehicle dynamics model, the stability of vehicle handling will also deteriorate in extreme driving situations

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