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Automatic driving high-speed manipulation and control system based on optimal control and safety distance and control method of system

A safe distance and optimal control technology, applied in the general control system, control/regulation system, adaptive control, etc., can solve the problems of driver modeling difficulties, and achieve the goal of solving modeling difficulties, fast convergence speed, and solution accuracy high effect

Pending Publication Date: 2018-10-30
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology

[0003] Purpose of the invention: In order to overcome the deficiencies in the prior art, the present invention provides an automatic driving fastest maneuvering control system and its control method based on optimal control and safety distance. The optimal manipulation input of the car can effectively solve the problem of difficult driver modeling

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  • Automatic driving high-speed manipulation and control system based on optimal control and safety distance and control method of system
  • Automatic driving high-speed manipulation and control system based on optimal control and safety distance and control method of system
  • Automatic driving high-speed manipulation and control system based on optimal control and safety distance and control method of system

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Embodiment Construction

[0026] The present invention is an automatic driving fastest maneuvering control system based on optimal control and safety distance, which can formulate longitudinal and lateral control strategies by the safety early warning system according to the driving state information and surrounding environment information of the vehicle collected by the data acquisition system ; When performing lateral maneuvering, according to the optimal control theory, given the state of the vehicle before and after the lateral maneuvering, the optimal control algorithm is used to inversely find the ideal fastest maneuvering input, and control the vehicle to perform the expected lateral maneuvering.

[0027] Such as figure 1 Shown, working method of the present invention is:

[0028] Step 1: The data acquisition system collects the current driving status of the car, the lane line and obstacle position, and the driving information of surrounding vehicles, and transmits the collected information to t...

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Abstract

The invention discloses an automatic driving high-speed manipulation and control system based on optimal control and safety distance and a control method of the system. The system comprises a data acquisition system, a safety early warning system, an optimal control system and an executing mechanism. The control method specifically includes the steps of obtaining surrounding environment information and the driving state of a car through the car-mounted data acquisition system; through the collected information, determining the initial state and terminal state of the car during running; under combination with the surrounding environment information and the safety early warning model, determining whether or not the car needs transverse manipulation; when the transverse manipulation is needed, inputting the initial state and terminal state of the car to an optimal control system, using an optimal control model for solving optimal manipulation input of the car, after that, inputting an optimal manipulation signal into the executing mechanism through D / A conversion, and controlling the car to complete longitudinal and transverse movement through the executing mechanism. According to thecontrol system and the control method, the safety and rapidity of the longitudinal and transverse movement of the automatic driving car are improved.

Description

technical field [0001] The invention belongs to the technical field of automobile automatic driving, and in particular relates to an automatic driving fastest maneuvering control system and a control method based on optimal control and safety distance. Background technique [0002] With the development of science and technology and social progress, autonomous driving technology has gradually become a research hotspot in the automotive industry. Some simple cruise control and adaptive cruise functions have been applied in high-end models. However, the autonomous driving technology currently available on the market is still in its infancy, and there are some shortcomings. On the one hand, its degree of automatic driving is low, and it only controls the longitudinal speed of the vehicle, and cannot realize the coordinated control of lateral steering, acceleration and deceleration, and cannot realize the lateral control function of the car; on the other hand, autonomous driving ...

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Application Information

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IPC IPC(8): G05B13/04G05D1/02
CPCG05B13/042G05D1/0231G05D1/0257
Inventor 赵又群张兴龙张雯昕张桂玉
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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