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A method for vehicle trajectory tracking control

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 mode, increase of driver burden, and inability to provide personalized assistance, so as to reduce driving burden, avoid manipulation interference, and improve tracking effect Effect

Active Publication Date: 2021-08-06
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

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  • A method for vehicle trajectory tracking control
  • A method for vehicle trajectory tracking control
  • A method for vehicle trajectory tracking control

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Embodiment Construction

[0088] In order to facilitate the understanding of those skilled in the art, the following description of the invention will be made in conjunction with the drawings, and the contents mentioned in the present invention are not limited.

[0089] Refer figure 1 As shown, a car trajectory tracking control method of the present invention is as follows:

[0090] 1) Identify the driver model based on neural network:

[0091] Establish the driver model for:

[0092]

[0093] Among them, θ sw For driver steering wheel corner; Θ sw First order derivative; τ p Is the driver's pre-aimation; g h Turn to proportional gain; τ d2 Time constant for reacting delay for driver; y d For the lateral displacement of the expected path; Y d First-order derivative; y is the lateral displacement at the current time of the vehicle; V x For the current vehicle speed; φ is the car direction;

[0094] During the steering, it is assumed that the vehicle speed is set, and the above formula (1) is assigned, t...

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Abstract

The invention discloses a vehicle trajectory tracking control method. The steps are as follows: 1) Identify the driver model based on the neural network; 2) Establish a three-degree-of-freedom vehicle model; The model designs the yaw moment controller to complete the vehicle trajectory tracking. The present invention predicts the driver's steering behavior based on the reference path and the current state of the car through driver model identification, so that the human-vehicle closed-loop system can track the reference path in a customized manner on the premise of meeting the driver's driving habits, avoiding the driving assistance system. The unified control of the driver brings manipulation interference, and the use of targeted driving assistance reduces the driver's driving burden and improves the driver's tracking effect on the ideal trajectory.

Description

Technical field [0001] The present invention belongs to the technical field of automotive assist driving system, and specifically refers to a car trajectory tracking control method. Background technique [0002] The driver is a decisive factor in the automobile driving link, with the development of all kinds of driving assistance systems, enabling the system to be reasonable and compatible with the real driver and is widely accepted by the driver is a key issue of driving assistance systems. Due to the difference in driving experience, driving habits, different behavioral characteristics will exhibit different behavior. Only by the driver's behavioral characteristics, the driving assistance system that meets the driver's habit can provide a reasonable and effective help for the driver without interference with the normal operation of the driver. When designing a driving assistance system, you should provide the help you need for different drivers. The traditional driving assistan...

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Application Information

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Patent Type & Authority Patents(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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