考虑驾驶人特性的智能驾驶路径跟踪算法

doi:10.19562/j.chinasae.qcgc.2021.04.013

Abstract

Abstract:

In view of the fact that most of the existing intelligent vehicle path tracking algorithms take little account of the driver characteristics， an intelligent driving path tracking algorithm based on driver characteristic is proposed. Firstly， k?means algorithm is used to cluster and analyze the relevant data obtained from the real vehicle tests.According to the regularity and difference of handling characteristic parameters， the characteristics of drivers are divided into three types： normal type， radical type and conservative type.Then， according to the classification and clustering results of driver characteristics， the different preferences of different types of drivers for vehicle lateral and longitudinal driving state are integrated into the design of trajectory tracking control strategy. Finally， the intelligent driving path tracking controller is designed based on the model predictive control and the cost function and constraints of the controller are designed based on the results of data clustering. The simulation results demonstrate that the vehicle path tracking control strategy proposed in this paper has high tracking accuracy and speed control accuracy. And the vehicle response changes in the tracking process can reflect the characteristics of different drivers. The path tracking speed error is less than 2% and the lateral tracking error is less than 0.13 m.

Key words: intelligent vehicle, path tracking, driver characteristics, model predictive control

Lisheng Jin,Xianyi Xie,Fa Si,Baicang Guo,Jian Shi. Intelligent Driving Path Tracking Algorithm Considering Driver Characteristics[J].Automotive Engineering, 2021, 43(4): 553-561.

Figures/Tables 12

车辆参数	数值
质心至前轴距离/m	1.016
质心至后轴距离/m	1.562
前轴侧偏刚度/( $N ? r a d - 1$ )	-72 156
后轴侧偏刚度/( $N ? r a d - 1$ )	-72 156
整车质量/kg	1 274
空气阻力系数	0.34
迎风面积/m²	1.6
滚动阻力系数	0.009 5

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驾驶人编号	加速度最大值/ (m·s^-2)	加速度最小值/ (m·s^-2)	转向盘转角变化率极值/ (（°）·s^-1)
1	1.04	-1.66	32.80
2	1.50	-2.23	38.69
3	3.39	-1.94	37.75
4	0.74	-1.40	33.45
5	1.71	-3.11	42.94
6	0.95	-1.78	37.13
7	0.63	-2.56	27.90
8	0.99	-2.04	33.31
9	1.20	-2.49	30.57
10	1.19	-2.33	34.70
11	0.99	-1.40	27.06
12	0.81	-1.95	36.69
13	1.51	-2.27	30.59
14	1.13	-2.63	32.54
15	1.07	-2.26	30.77
16	1.77	-2.09	27.92
17	1.06	-2.13	32.66
18	1.76	-2.32	32.42

参数	聚类结果
参数	1(保守型)	2(激进型)	3(正常型)
加速度最大值/(m·s^-2)	1.18	1.71	1.34
加速度最小值/(m·s^-2)	-2.12	-3.11	-2.06
转向盘转角变化率极值/(（°）·s^-1)	29.10	42.90	34.52

权重系数	正常型	保守型	激进型
K₁	5	5	5
K₂	4	4	4
K₃	0.1	0.1	0.1
K₄	8	8	8
K₅	1	1	1
K₆	30	300	3

目标车速/(m·s^-1)		8	10	12
不同特性控制器达到目标车速时间t/s	激进型	3.5	4.5	5.9
	正常型	4.1	5.9	7.3
	保守型	4.8	6.2	8.1

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Intelligent Driving Path Tracking Algorithm Considering Driver Characteristics

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