The invention discloses a transverse and longitudinal coupled driving intention recognition method, which comprises a longitudinal intention recognition module used for recognizing the longitudinal intention of a driver according to the current vehicle speed and the opening degree of an accelerator pedal; the state updating module is used for updating the longitudinal vehicle speed in combination with the current vehicle speed and the recognized longitudinal intention; the transverse intention recognition module is used for recognizing the transverse intention of the driver according to the updated longitudinal vehicle speed and the steering angle of the steering wheel, and the influence of the longitudinal vehicle speed is considered from the two aspects of the transient state and the steady state when the transverse action and the longitudinal action of the driver are coupled. The longitudinal driving intention is recognized through the accelerator pedal opening degree and the current vehicle speed, then the inherent frequency and the damping ratio are calculated according to the current vehicle speed, and the stabilization time is calculated through the inherent frequency and the damping ratio. And updating the longitudinal predicted vehicle speed. And determining the transverse intention of the driver in combination with the updated longitudinal predicted vehicle speed and the steering angle of the steering wheel to realize driving intention recognition under the transverse and longitudinal coupling working condition.
本发明公开了一种横纵向耦合的驾驶意图识别方法,包括:纵向意图识别模块,用于根据当前车速和加速踏板开度进行驾驶员纵向意图识别;状态更新模块,用于结合当前车速和识别到的纵向意图,更新纵向车速;横向意图识别模块,根据更新后的纵向车速和转向盘转角进行驾驶员横向意图识别,本发明从瞬态和稳态两个方面考虑了驾驶员横纵向动作耦合时,纵向车速的影响。通过加速踏板开度和当前车速识别纵向驾驶意图,再根据当前车速计算固有频率和阻尼比,通过二者计算稳定时间。再进行纵向预测车速的更新。结合更新后的纵向预测车速和转向盘转角,确定驾驶员横向意图,实现横纵向耦合工况下的驾驶意图识别。
Transverse and longitudinal coupled driving intention recognition method
一种横纵向耦合的驾驶意图识别方法
2024-06-21
Patent
Electronic Resource
Chinese
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 |
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