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Car following control method based on brain emotion learning loop model and control system thereof

A control method and emotional technology, applied in the field of car-following control method and its car-following control system based on the brain-emotional learning circuit model, can solve problems such as high psychological pressure

Inactive Publication Date: 2020-10-30
HEFEI UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

In this way, it will be harder for the driver to follow the car, and the pressure will be greater

Method used

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  • Car following control method based on brain emotion learning loop model and control system thereof
  • Car following control method based on brain emotion learning loop model and control system thereof
  • Car following control method based on brain emotion learning loop model and control system thereof

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Experimental program
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Effect test

Embodiment 1

[0069] See figure 1 and figure 2 The car following control method of this embodiment mainly includes: designing the safety distance d_des between the self-car and the preceding vehicle; designing the distance error; designing an emotion controller based on the brain emotion learning circuit model, and finally using E as the unified accelerator pedal of the self-car degree. Finally complete the follow-up control.

[0070] First, the following control method of the present invention will be introduced in detail.

[0071] Step 1: According to the headway th and the speed of the vehicle v x , The minimum safety distance d that should be maintained when the vehicle and the preceding vehicle are relatively stationary without collision 0 , Design the safety distance d_des between the vehicle and the preceding vehicle: d_des=th×v x +d 0 .

[0072] In this embodiment, the design method of the headway th is:

[0073]

[0074] Where th 0 Represents the basic headway, K r Represents the relat...

Embodiment 2

[0108] Embodiment 2 is a specific example of Embodiment 1.

[0109] The car following control method of embodiment 2 only considers the situation of the front and rear cars. First, the actual distance between the two cars d_act and the relative speed v are detected by radar. r And the acceleration of the preceding vehicle a f .

[0110] The variable headway safety distance model considering the speed of the vehicle, the relative speed of the two vehicles, the acceleration of the preceding vehicle and the road adhesion coefficient is:

[0111] d_des=thv x +d 0

[0112] Where d_des represents the expected safety distance, th represents the headway, v x Is the vehicle speed, d 0 Indicates the minimum safe distance that should be maintained when two vehicles are relatively stationary without a collision.

[0113] The algorithm of variable headway th is:

[0114]

[0115] Where th 0 Represents the basic headway, Kr represents the relative speed coefficient of the two vehicles, K f Represents ...

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Abstract

The invention discloses a car following control method based on a brain emotion learning loop model and a control system thereof. The car following control method comprises the steps of designing a safety distance between a vehicle and a front vehicle; designing a distance error according to the safety distance; outputting an expected acceleration of the vehicle according to the distance error anda relative speed of the vehicle and the front vehicle; and designing an emotion controller based on the brain emotion learning loop model according to the expected acceleration of the vehicle, and finally taking the output of the emotion controller as an unified accelerator pedal opening degree of the vehicle to finally complete car following control. The method better conforms to a decision behavior of a driver, has advantages of a high adaptive capacity and a high response speed, and can realize accurate control of the speed.

Description

Technical field [0001] The invention relates to a control method and a control system in the field of automobile safety and advanced driving assistance systems, and in particular to a follow-up control method and a follow-up control system based on a brain emotion learning loop model. Background technique [0002] With the increase in car ownership and the number of novice drivers, traffic jams, frequent accidents, and huge property losses caused by traffic accidents have caused people to pay more and more attention to the safety of vehicles. [0003] Car following is a common driving behavior, such as driving in a city, especially when encountering congestion during get off work hours is normal. The distance between cars at this time is very small, often less than 3 meters, and the speed is between 20-30 km / h, or even lower than 20 km / h. At this time, following the car is easy to rear-end, and following the car will be disgusting. For another example, when the vehicle in front l...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W30/17B60W50/00G05B13/02
CPCB60W30/17B60W50/00B60W2050/0028B60W2554/802B60W2554/804G05B13/0275
Inventor 姜平李煜东谷先广孙浩姚鑫鑫张宇
Owner HEFEI UNIV OF TECH
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