Driver modeling method for horizontal/longitudinal motion unified framework

Abstract

A driver modeling method for a horizontal / longitudinal motion unified framework includes the following steps: establishing a vehicle lateral single lane change trajectory analytic expression by usinga hyperbolic tangent function; acquiring road information, vehicle information, and the driving state information of the vehicle; obtaining the constraint of lateral displacement of the vehicle according to road state information; establishing an indicator function according to a driver characteristic and a safety requirement, obtaining an optimized lateral displacement parameter, and calculatingthe lateral force constraint of the vehicle in combination with the vehicle driving state and an environmental factor; obtaining the vehicle trajectory smoothness constraint by using the lateral forceconstraint; establishing an indicator function in combination with the driver characteristic to obtain an optimized value of a smoothness parameter; and finally obtaining an optimized trajectory expectation. With the lateral expectation and the longitudinal velocity as expected values, a driver model describing the horizontal / longitudinal motion unified framework is established to achieve a trajectory tracking purpose.

Description

technical field [0001] The present invention relates to the technical field of intelligent vehicle control, and in particular to a driver model design method based on the analytical expression of lane-changing trajectories based on driving safety and driver characteristics, parameter constraint calculation and optimization, and horizontal / vertical motion. Background technique [0002] Vehicle trajectory planning and driver model modeling occupy an important research position in the field of intelligent driving. Trajectory planning, as the reference output source of driver modeling, is the first guarantee for the safe operation of the vehicle in the entire intelligent driving process. However, most of the current trajectory planning usually considers the smoothness of the route itself as a safety indicator. This approach is too conservative in trajectory planning, and the planned trajectory that ignores the driving characteristics of the driver cannot guarantee the comfort of...

AI Technical Summary

Problems solved by technology

However, considering most of the working conditions and the characteristics of the controlled object of the driver model—vehicle, the movement of the vehicle in two directions has coupling characteristics, and considering the movement state of a single direction to design the driver model separately will result in neglecting the movement state of the other direction. The deviation makes its control effect have a large error

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