汽车工程 ›› 2021, Vol. 43 ›› Issue (8): 1168-1176.doi: 10.19562/j.chinasae.qcgc.2021.08.007
收稿日期:
2021-03-22
修回日期:
2021-04-28
出版日期:
2021-08-25
发布日期:
2021-08-20
通讯作者:
陈吉清
E-mail:chenjq@scut.edu.cn
基金资助:
Fengchong Lan1,Shicheng Li1,Jiqing Chen1(),Zongmao Shen2
Received:
2021-03-22
Revised:
2021-04-28
Online:
2021-08-25
Published:
2021-08-20
Contact:
Jiqing Chen
E-mail:chenjq@scut.edu.cn
摘要:
针对自动驾驶车辆轨迹规划控制算法无法满足乘员个性化舒适性问题,结合自然驾驶数据和乘员乘坐舒适性需求,建立乘员个性化舒适性辨识方法。首先确定主观舒适性评价方式,基于标准ISO2631搭建频域和时域加权滤波函数,提取自动驾驶汽车乘员舒适性主客观特征参数,辨识乘员个性化舒适性与自动驾驶车辆行驶规划参数关系;随后搭建自然驾驶数采平台,采集影响舒适性的行驶参数和主客观参数;利用因子分析对行驶参数降维,得到三向运动(横向冲击、纵向加速、垂向振动)、行驶风险和效率影响因子;最后运用加权分析方法辨识模型,并通过卡尔曼滤波算法快速准确识别乘员个性化需求,得到舒适度加权方均根阈值。辨识结果表明:乘员主客观舒适度相关性达85.8%;三向运动因子对乘员舒适性影响大于行驶风险和效率因子;乘员个性化舒适性辨识率高达93.9%。本研究可为搭建考虑乘员舒适性的个性化轨迹规划控制算法提供理论支持。
兰凤崇,李诗成,陈吉清,沈宗卯. 自动驾驶汽车乘员个性化乘坐舒适性辨识方法[J]. 汽车工程, 2021, 43(8): 1168-1176.
Fengchong Lan,Shicheng Li,Jiqing Chen,Zongmao Shen. Identification Method for Occupant Personalized Ride Comfort of Autonomous Vehicles[J]. Automotive Engineering, 2021, 43(8): 1168-1176.
表 5
总方差解释"
参数 编号 | 初始特征值 | 参数 编号 | 初始特征值 | ||||
---|---|---|---|---|---|---|---|
特征根 | 方差 贡献/% | 累积 贡献/% | 特征根 | 方差 贡献/% | 累积 贡献/% | ||
1 | 5.588 | 31.047 | 31.047 | 10 | 0.272 | 1.511 | 96.109 |
2 | 3.791 | 21.064 | 52.111 | 11 | 0.249 | 1.385 | 97.495 |
3 | 2.467 | 13.707 | 65.818 | 12 | 0.175 | 0.970 | 98.464 |
4 | 1.659 | 9.218 | 75.036 | 13 | 0.118 | 0.656 | 99.121 |
5 | 1.006 | 5.590 | 80.626 | 14 | 0.061 | 0.340 | 99.460 |
6 | 0.895 | 4.971 | 85.597 | 15 | 0.041 | 0.226 | 99.686 |
7 | 0.799 | 4.440 | 90.037 | 16 | 0.026 | 0.144 | 99.830 |
8 | 0.475 | 2.640 | 92.677 | 17 | 0.016 | 0.090 | 99.921 |
9 | 0.346 | 1.921 | 94.599 | 18 | 0.014 | 0.079 | 100.000 |
表 6
因子载荷旋转"
参数 编号 | 行驶车辆状态参数公共因子 | ||||
---|---|---|---|---|---|
1 | 2 | 3 | 4 | 5 | |
1 | -0.579 | 0.045 | -0.016 | -0.147 | 0.488 |
2 | 0.084 | 0.298 | -0.162 | 0.750 | 0.293 |
3 | -0.310 | 0.280 | -0.152 | 0.572 | 0.554 |
4 | 0.088 | -0.013 | -0.033 | 0.070 | 0.807 |
5 | 0.072 | 0.077 | 0.975 | -0.025 | -0.015 |
6 | 0.113 | -0.093 | 0.875 | 0.161 | -0.125 |
7 | 0.103 | 0.039 | 0.858 | -0.212 | 0.031 |
8 | 0.766 | 0.097 | 0.147 | 0.189 | 0.035 |
9 | 0.834 | 0.153 | 0.042 | -0.175 | 0.047 |
10 | 0.928 | -0.036 | 0.031 | 0.181 | -0.012 |
11 | 0.971 | -0.007 | 0.063 | 0.096 | -0.036 |
12 | 0.874 | 0.034 | 0.089 | -0.079 | -0.012 |
13 | 0.967 | -0.016 | 0.058 | 0.057 | -0.048 |
14 | -0.026 | 0.926 | -0.048 | -0.089 | 0.026 |
15 | 0.026 | 0.874 | 0.017 | -0.011 | 0.052 |
16 | 0.132 | 0.877 | 0.094 | 0.308 | 0.011 |
17 | 0.046 | 0.973 | -0.016 | 0.079 | 0.013 |
18 | 0.191 | -0.082 | 0.072 | 0.729 | -0.127 |
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