本发明公开了一种防晕车自动驾驶车辆纵横向控制方法,首先建立车辆动力学模型,根据车辆动力学模型确定当前车辆行驶状态与路面信息,在获取到车辆行驶状态与路面信息后,在保证安全与效率的同时,尽量使得乘车人员不晕车的情况下根据驾驶人模型输出期望速度、期望加速度、期望车轮转角,对车辆进行纵横向控制。该方法采用非线性模型预测控制算法建立整合纵横向控制的驾驶人模型,该模型将晕车指标作为多目标函数中的一个函数,根据所采集到的路面信息与车身运行状态经驾驶人模型后输出驱动与转向控制参数,依此对车辆进行纵横向协同控制,在保证安全和效率的情况下防止乘车人员感到晕车,控制车辆完成指定目标。
An autonomous vehicle longitudinal-and-lateral control method for preventing motion sickness is disclosed. Firstly, a vehicle dynamics model is established, and the current vehicle travelling state and road surface information are determined according to the vehicle dynamics model. After the vehicle travelling state and road surface information are acquired, the desired velocity, desired acceleration, and desired wheel turning angle are output according to a driver model for reducing occurrence of motion sickness while ensuring safety and efficiency, to carry out longitudinal-and-lateral control of the vehicle.
一种防晕车自动驾驶车辆纵横向控制方法
2023-08-11
Patent
Elektronische Ressource
Chinesisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |