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Automobile trajectory tracking control method

A trajectory tracking and control method technology, applied in the direction of control devices, etc., can solve the problems of simplification of driving assistance system modes, increase of driver burden, and inability to provide personalized assistance

Active Publication Date: 2020-12-04
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology

[0004] Aiming at the deficiencies of the above-mentioned prior art, the object of the present invention is to provide a vehicle trajectory tracking control method to solve the problem of the simplification of the driving assistance system mode in the prior art, the inability to perform personalized assistance according to a specific driver, and increase the burden on the driver. The problem

Method used

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Embodiment Construction

[0087] In order to facilitate the understanding of those skilled in the art, the present invention will be further described below in conjunction with the embodiments and accompanying drawings, and the contents mentioned in the embodiments are not intended to limit the present invention.

[0088] refer to figure 1 Shown, a kind of automobile trajectory tracking control method of the present invention, the steps are as follows:

[0089] 1) Identify the driver model based on the neural network:

[0090] Build the driver model as:

[0091]

[0092] Among them, θ sw is the steering wheel angle of the driver; is theta sw The first derivative of ; τ p is the driver’s preview time; G h is the steering proportional gain; τ d2 is the time constant of the driver’s reaction delay; Y d is the lateral displacement with reference to the desired path; is Y d The first derivative of ; Y is the lateral displacement at the center of mass of the vehicle at the current moment; v x...

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Abstract

The invention discloses an automobile trajectory tracking control method. The method comprises the following steps: 1) identifying a driver model based on a neural network; 2) establishing a three-degree-of-freedom automobile model; and 3) designing a yaw moment controller according to the identified driver model and the three-degree-of-freedom automobile model to complete automobile trajectory tracking. Through driver model identification, the steering behavior of the driver is predicted according to the reference path and the current state of the automobile, so that the human-automobile closed-loop system tracks the reference path in a customized mode on the premise of conforming to the driving habit of the driver, and manipulation interference caused by unified control over the driver by a driving assistance system is avoided; targeted driving assistance is used for reducing the driving burden of a driver, and the tracking effect of the driver on an ideal track is improved.

Description

technical field [0001] The invention belongs to the technical field of automobile auxiliary driving systems, and specifically refers to an automobile trajectory tracking control method. Background technique [0002] The driver is the decisive factor in the car driving process. With the development of various driving assistance systems, making the system reasonably compatible with real drivers and widely accepted by drivers is a key issue for driving assistance systems. Due to differences in driving experience, driving habits and other factors, different drivers will show different behavioral characteristics. Only by designing a driving assistance system that conforms to the driver's driving habits according to the driver's behavior characteristics can it provide reasonable and effective assistance to the driver without interfering with the driver's normal operation. When designing a driving assistance system, the assistance that different drivers need should be provided. T...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W30/10B60W40/09B60W50/00
CPCB60W30/10B60W40/09B60W50/00B60W2050/0008B60W2050/0029
Inventor 张寒赵万忠
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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