CN112606833B - A motion control method for intelligent vehicle based on model predictive control to protect human-ground collision damage - Google Patents
A motion control method for intelligent vehicle based on model predictive control to protect human-ground collision damage Download PDFInfo
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- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
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Abstract
针对现有防护人地碰撞损伤的车辆运动控制方法的不足，提出一种基于模型预测控制的防护人地碰撞损伤的智能车运动控制方法。当监测到事故不可避免时，完全制动车辆至人头部与车撞击的t1时刻；然后松开车辆制动并实时监测人体胸部速度和位置，据此预估之后10个时间步长内人体胸部的运动轨迹，再根据预估轨迹与车头位置差对车辆进行横、纵向运动控制；当监测到人体胸部位置高于发动机罩盖前沿高度时，重复轨迹预估、运动控制步骤；当监测到人体胸部位置低于发动机罩盖前沿时，完全制动车辆至静止。本发明的有益效果是：依据预估轨迹对车辆横、纵向运动进行控制，有效解决了现有成果中未考虑车辆横向控制及事故过程极短导致难以实施有效控制的问题。
Aiming at the deficiencies of the existing vehicle motion control methods to protect human-ground collision damage, this paper proposes a smart vehicle motion control method based on model predictive control to protect human-ground collision damage. When it is detected that the accident is unavoidable, the vehicle is completely braked to the time t1 when the head of the human body collides with the car; then the vehicle brake is released and the speed and position of the human chest are monitored in real time, and the human body in the next 10 time steps is estimated accordingly. The movement trajectory of the chest is used to control the horizontal and vertical motion of the vehicle according to the difference between the estimated trajectory and the head position; when the detected position of the human chest is higher than the height of the front edge of the hood, repeat the trajectory estimation and motion control steps; When the position of the human chest is below the front edge of the hood, fully brake the vehicle to a standstill. The beneficial effects of the present invention are: the lateral and longitudinal motion of the vehicle is controlled according to the estimated trajectory, which effectively solves the problems that the lateral control of the vehicle is not considered in the existing achievements and the accident process is extremely short, which makes it difficult to implement effective control.
Description
Technical Field
The invention relates to the field of intelligent automobiles, in particular to a model prediction control-based intelligent automobile motion control method for protecting human-ground collision damage.
Background
The intelligent automobile is provided with good wishes of people for road traffic safety, intelligence, high efficiency and the like from the beginning, and people expect to greatly reduce the number of traffic accidents through the intelligent automobile and realize the vision of zero accidents. In the intelligent era, it is certain that the number of accidents is greatly reduced and the collision speed is also greatly reduced, but from the current research on accident data, the automatic emergency braking system of pedestrians and the practical situation of running of a small number of automobiles (such as Tesla) with certain intelligence, the intelligent automobile has a long distance from the zero accident landscape.
People expect the intelligent vehicle very much, and the intelligent vehicle can greatly reduce the number of collision accidents such as vehicles, particularly the collision vehicle speed, so as to protect passengers better, but because the effect of protecting pedestrians is certainly not as obvious as the effect of protecting passengers due to the unpredictability of pedestrians, the pedestrian protection capability of the intelligent vehicle before realizing the zero accident vision needs to be improved urgently, so as to realize the protection of weak road users by traffic intensity.
In the event of a human-vehicle collision, studies have shown that pedestrian injury results from a first impact with the vehicle followed by a second impact with the ground. However, in the event of a low speed collision, the human body injury is more likely to result from the impact with the ground, and the deep accident investigation results further show that the accident loss can be reduced 2/3 if the ground injury can be avoided. Therefore, researchers have conducted extensive and intensive studies on the human-ground collision damage mechanism, the human-ground collision high-precision simulation modeling, the human-ground collision damage protection method, and the like. In the aspect of damage protection, parts such as a roof and an engine cover, and intelligent vehicle motion control methods such as brake control and speed control are proposed to effectively reduce human-ground collision damage in an accident. The remarkable feature of these research results, especially the related results on vehicle motion control, is that they only control the longitudinal direction of the vehicle and do not consider the current situation that the accident process is very short and effective control is difficult to implement. After the human-vehicle collision happens, the time of the human head contacting the vehicle body happens within a few tenths of a second, then the human body is thrown out and falls down to the ground, the whole process is completed within a very short time, and the intelligent vehicle is required to scientifically control the self-movement to reduce the difficulty of human-ground collision damage to the maximum extent. Under the condition, the model prediction control concept can be applied, the approximate motion track of the human body after the pedestrian is thrown out is predicted, the motion of the vehicle is controlled by taking the approximate motion track as a target, and the damage caused by the ground is effectively reduced.
Disclosure of Invention
Aiming at the current situation that the existing intelligent vehicle motion control method for protecting the human-ground collision damage does not control the vehicle transversely and does not consider the problem that the effective control is difficult to implement due to the extremely short accident process, the invention provides an intelligent vehicle motion control method for protecting the human-ground collision damage based on model predictive control, which comprises the following implementation steps:
s1: when the vehicle monitors that the accident is unavoidable, the vehicle is completely braked to the t1 moment when the head of the human body collides with the vehicle body for the first time, the vehicle brake is released after t1, and the speed and the position of the chest of the human body in the x, y and z directions are monitored in real time;
s2: estimating the motion trail of the human chest within 10 time steps after the time according to the speeds vx0, vy0 and vz0 and the positions px0, py0 and pz0 of the human chest in the x, y and z directions monitored at the time t 1;
s3: calculating the difference e1 between the chest position of the human body and the rear edge position of the engine hood in the x direction in the motion trail obtained in the step S2, and dividing the difference e1 into a positive type, a zero type and a negative type; meanwhile, calculating the difference e2 between the chest position of the human body and the middle position of the rear edge of the engine hood in the y direction in the obtained motion trail, and dividing the difference e2 into seven types of negative big, negative middle, negative small, zero, positive small, positive middle and positive big;
s4: controlling the motion of the vehicle in the x direction according to a given rule, and controlling the motion of the vehicle in the y direction according to given steps after the human-vehicle is out of contact; meanwhile, the speed and the position of the chest of the human body in the x direction, the y direction and the z direction are continuously monitored in real time;
s5: when the position of the chest of the human body in the z direction is detected to be higher than the front edge height of the engine hood, replacing t1 with the current real-time, and repeating the steps S2, S3 and S4;
s6: when the position of the human chest in the z direction is detected to be lower than the front edge height of the engine hood, the vehicle is completely braked to be stationary.
When an accident is monitored to be unavoidable, the invention requires that the vehicle is completely braked to the t1 moment when the head of the human body collides with the vehicle body; then releasing vehicle brake, monitoring the speed and position of the human chest in the x direction, the y direction and the z direction in real time, predicting the motion track of the human chest within 10 time steps after the moment according to the monitored speed and position of the human chest, and further calculating the position difference e1 of the human chest and the vehicle body in the x direction and the position difference e2 in the y direction in the motion track; then controlling the longitudinal motion of the vehicle according to e1 and controlling the transverse motion of the vehicle according to e 2; when the chest position of the human body is monitored to be higher than the front edge height of the engine cover, the steps of estimating the chest movement track of the human body and controlling the transverse and longitudinal movement of the vehicle are repeated; when the chest position of the human body is detected to be lower than the front edge of the engine cover, the vehicle is completely braked to be static; therefore, the aim of influencing the falling posture of the human body by moving the vehicle and further protecting the human body from collision and injury is fulfilled.
Preferably, in step S1, t1 is the time when the head of the human body makes contact with the vehicle body for the first time, and the vehicle is completely braked before the time node, so that on one hand, the speed of the head-vehicle collision time in the human body head-vehicle collision accident can be reduced as much as possible, and thus the head damage is reduced; on the other hand, the vehicle can be ensured to be in a complete braking state (because the monitoring of the vehicle cannot reach t1) in the accident that the head of the human body does not collide with the vehicle body (such as the human body collides with the side face of the vehicle), namely, the vehicle does not need to be controlled in the accident and only needs to be completely braked.
Preferably, in steps S1 to S6, the x direction indicates the vehicle longitudinal direction at the moment of the human-vehicle collision and is directed to the vehicle advancing direction; the y direction is vertical to the x direction and points to the left side of a driver of the vehicle in the instant of collision of people and the vehicle; the z direction is vertical to the plane defined by the x and the y and points to the upper part of the ground; the position of the human thorax in the x, y and z directions is determined by the coordinates (px, py, pz) of the thorax in a cartesian rectangular coordinate system (x, y, z), the origin of which coincides with the projection of the position of the center of gravity of the vehicle on the ground at the moment of the human-vehicle collision.
Preferably, the estimation method of the motion trail of the human chest in step S2 is as follows:
assuming that the chest of the human body monitored in real time at the time t has the velocities vx0, vy0 and vz0 in the x, y and z directions and the positions px0, py0 and pz0, the chest positions of the human body at the time t +1 are as follows:
px1＝px0+vx0×Ts,
py1＝py0+vy0×Ts,
pz1＝pz0+vz0×Ts-g×Ts×Ts/2,
in the formula, g is the local gravity acceleration, Ts is the time step length, and the time step length is determined according to the sampling frequency of the intelligent vehicle monitoring equipment; and the motion trail of the chest of the human body within 10 time steps after the t moment can be obtained by calculating 10 times by analogy.
Preferably, in step S3, negative big finger e2< -0.5m, negative middle finger-0.5 m < e2< -0.3m, negative little finger-0.3 m < e2<0m, positive little finger 0m < e2<0.3m, middle finger 0.3m < e2<0.5m, and positive big finger e2>0.5 m.
Preferably, in step S4, the motion control rule of the vehicle in the x direction is: when e1 is positive, the vehicle is accelerated, and the acceleration value is 1m/s2(ii) a When e1 is negative, the vehicle is decelerated, and the acceleration value is taken as-1 m/s2(ii) a When e1 is zero, controlling the acceleration of the vehicle to be zero; in the process, whenWhen the vehicle monitors that an obstacle or the positions of the head, the chest, the hip and the like of the human body in front are lower than the front edge of the engine cover, the motion control in the x direction is finished, and the vehicle is completely braked. In each time step, the rear edge of the engine cover can be ensured to be at the same position as the chest of the human body by adjusting the acceleration of the vehicle, so that the aim of influencing the falling posture of the human body by moving the vehicle after the time t1 is fulfilled. When the vehicle monitors that the front obstacle exists, the vehicle is completely braked in order to avoid other potential risks; when the vehicle monitors that the positions of the head, the chest, the hip and the like of the human body are lower than the engine cover, the human body is not thrown up or is about to fall off the ground, and at the moment, the vehicle needs to be completely braked to avoid the vehicle from pushing the human body to move forward to transmit more kinetic energy to the human body or crush the human body.
Preferably, in step S4, the motion control step of the vehicle in the y direction is:
s41: when the condition that e2 is not zero is monitored, a message is sent to the surrounding vehicles to give a clear lane change intention;
s42: when the people and the vehicle are separated from contact, the surrounding environment is monitored, and the transverse motion of the vehicle is controlled according to the following rules on the premise of confirming safety: if e2 is negative, setting the steering angle of the wheels to-15 degrees; if e2 is negative-medium, the steering angle of the wheels is set to-10 degrees; if e2 is negative, setting the steering angle of the wheels to be-5 degrees; if e2 is zero, setting the wheel steering angle to zero; if e2 is positive small, the wheel steering angle is set to 5 °; if e2 is in the middle, setting the steering angle of the wheels to 10 degrees; if e2 is positive, setting the wheel steering angle to 15 °; the vehicle steering angle is positive counterclockwise. Compared with longitudinal control, the transverse motion control of the vehicle is only carried out after the human and the vehicle are separated from contact, and the values of the wheel turning angles are large in order to control the position of the vehicle in a short time. From the driver's perspective, when the human body is partial to the left side of the vehicle, move the vehicle to the left, otherwise move to the right, finally can make the position difference between the two be zero to guarantee that the human body can finally fall to the engine cover central authorities rather than from the automobile body edge ground that falls, thereby reach the optimal automobile body and connect the people position, and then realize influencing the purpose that the human body falls to the ground gesture through moving the vehicle.
S43: and after the contact of the human and the vehicle is monitored, setting the steering angle of the wheels to be zero, and finishing the transverse motion control. After the people and the vehicle are contacted, the people and the vehicle can be influenced mutually due to the action of friction force, the transverse motion of the vehicle is controlled at the moment, the speed of the human body in the y direction can be increased, the kinetic energy of the human body obtained from the vehicle body in the whole process can be increased, and the risk of human collision and damage can be increased. This is a dangerous behaviour and therefore the vehicle lateral motion control is only implemented after the human vehicle has left contact.
Preferably, when the position of the chest of the human body in the z direction is detected to be higher than the front edge height of the engine hood in the step S5, the human body is still away from the falling ground for a period of time, so that the braking control of the vehicle can be continued; considering that the pedestrian motion trajectory model is simple, in order to ensure the accuracy of the model, the motion trajectory of the human body within 10 time steps after the current real-time is calculated again according to step S2, and the control of the vehicle motion in steps S3 and S4 is continued accordingly.
Preferably, when the position of the chest of the human body in the z direction is detected to be lower than the front edge height of the engine hood in step S6, it indicates that the human body is about to fall to the ground, and the vehicle is fully braked to avoid a crush accident.
Compared with the prior art, the technical scheme of the invention has the beneficial effects that: the motion track of the human body in the next 10 time step lengths is predicted according to the monitored chest speed and position of the human body, and the high-efficiency control of the vehicle motion is realized by scientifically adjusting the acceleration and the steering angle of the wheels, so that the problem that the transverse control of the vehicle and the short accident process are not considered in the prior achievement and the effective control is difficult to implement is effectively solved.
Drawings
FIG. 1 is a flow chart of the method of the present invention.
Detailed Description
The drawings are for illustrative purposes only and are not to be construed as limiting the patent;
the technical solution of the present invention is further described below with reference to examples.
For a certain intelligent automobile, when the intelligent automobile monitors that potential collision with a pedestrian is unavoidable, the method comprises the following steps of:
s1: and (3) fully braking the vehicle to t1 moment when the head of the human body collides with the vehicle body for the first time, releasing the vehicle brake after t1 and monitoring the speed and the position of the chest of the human body in the x direction, the y direction and the z direction in real time. Wherein the x direction refers to the longitudinal direction of the vehicle at the moment of collision of the man and the vehicle and points to the advancing direction of the vehicle; the y direction is vertical to the x direction and points to the left side of a driver of the vehicle in the instant of collision of people and the vehicle; the z direction is vertical to the plane defined by the x and the y and points to the upper part of the ground; the position of the human thorax in the x, y and z directions is determined by the coordinates (px, py, pz) of the thorax in a cartesian rectangular coordinate system (x, y, z), the origin of which coincides with the projection of the position of the center of gravity of the vehicle on the ground at the moment of the human-vehicle collision.
S2: and estimating the motion trail of the human chest within 10 time steps after the time according to the speeds vx0, vy0 and vz0 of the human chest in the x, y and z directions and the positions px0, py0 and pz0 monitored at the time t 1.
The estimation method comprises the following steps:
assuming that the chest of the human body monitored in real time at the time t has the velocities vx0, vy0 and vz0 in the x, y and z directions and the positions px0, py0 and pz0, the chest positions of the human body at the time t +1 are as follows:
px1＝px0+vx0×Ts,
py1＝py0+vy0×Ts,
pz1＝pz0+vz0×Ts-g×Ts×Ts/2,
in the formula, g is the local gravity acceleration, Ts is the time step length, and the time step length is determined according to the sampling frequency of the intelligent vehicle monitoring equipment; and the motion trail of the chest of the human body within 10 time steps after the t moment can be obtained by calculating 10 times by analogy.
S3: calculating the difference e1 between the chest position of the human body and the rear edge position of the engine hood in the x direction in the motion trail obtained in the step S2, and dividing the difference e1 into a positive type, a zero type and a negative type; meanwhile, the difference e2 between the chest position of the human body and the middle position of the rear edge of the engine hood in the y direction in the obtained motion trail is calculated, and the difference e2 is divided into seven types of negative large, negative middle, negative small, zero, positive small, positive middle and positive large. Wherein, the negative big finger e2< -0.5m, the negative middle finger-0.5 m < e2< -0.3m, the negative little finger-0.3 m < e2<0m, the positive little finger 0m < e2<0.3m, the middle finger 0.3m < e2<0.5m, and the positive big finger e2>0.5 m.
S4: controlling the motion of the vehicle in the x direction according to a given rule, and controlling the motion of the vehicle in the y direction according to given steps after the human-vehicle is out of contact; meanwhile, the speed and the position of the chest of the human body in the x direction, the y direction and the z direction are continuously monitored in real time.
The motion control rule of the vehicle in the x direction is as follows: when e1 is positive, the vehicle is accelerated, and the acceleration value is 1m/s2(ii) a When e1 is negative, the vehicle is decelerated, and the acceleration value is taken as-1 m/s2(ii) a When e1 is zero, controlling the acceleration of the vehicle to be zero; in the process, when the vehicle detects that an obstacle or the positions of the head, the chest, the hip and the like of the human body in front are lower than the front edge of the engine hood, the motion control in the x direction is finished, and the vehicle is completely braked.
The motion control steps of the vehicle in the y direction are as follows:
s41: when the condition that e2 is not zero is monitored, a message is sent to the surrounding vehicles to give a clear lane change intention;
s42: when the people and the vehicle are separated from contact, the surrounding environment is monitored, and the transverse motion of the vehicle is controlled according to the following rules on the premise of confirming safety: if e2 is negative, setting the steering angle of the wheels to-15 degrees; if e2 is negative-medium, the steering angle of the wheels is set to-10 degrees; if e2 is negative, setting the steering angle of the wheels to be-5 degrees; if e2 is zero, setting the wheel steering angle to zero; if e2 is positive small, the wheel steering angle is set to 5 °; if e2 is in the middle, setting the steering angle of the wheels to 10 degrees; if e2 is positive, setting the wheel steering angle to 15 °; the vehicle steering angle is positive counterclockwise.
S43: and after the contact of the human and the vehicle is monitored, setting the steering angle of the wheels to be zero, and finishing the transverse motion control.
S5: when the position of the chest of the human body in the z direction is detected to be higher than the front edge height of the engine hood, replacing t1 with the current real-time, and repeating the steps S2, S3 and S4;
s6: when the position of the human chest in the z direction is detected to be lower than the front edge height of the engine hood, the vehicle is completely braked to be stationary.
The invention provides an intelligent vehicle motion control method for protecting human-ground collision damage based on model predictive control, when an accident is monitored to be unavoidable, the method requires that a vehicle is completely braked to a t1 moment when the head of a human body collides with a vehicle body; then releasing vehicle brake, monitoring the speed and position of the human chest in the x direction, the y direction and the z direction in real time, predicting the motion track of the human chest within 10 time steps after the moment according to the monitored speed and position of the human chest, and further calculating the position difference e1 of the human chest and the vehicle body in the x direction and the position difference e2 in the y direction in the motion track; then controlling the longitudinal motion of the vehicle according to e1 and controlling the transverse motion of the vehicle according to e 2; when the chest position of the human body is monitored to be higher than the front edge height of the engine cover, the steps of estimating the chest movement track of the human body and controlling the transverse and longitudinal movement of the vehicle are repeated; when the chest position of the human body is detected to be lower than the front edge of the engine cover, the vehicle is completely braked to be static; therefore, the aim of influencing the falling posture of the human body by moving the vehicle and further protecting the human body from collision and injury is fulfilled.
It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (4)
1. The model predictive control-based intelligent vehicle motion control method for protecting human-ground collision damage is characterized by comprising the following steps of: according to the estimated human motion track, the transverse and longitudinal motion of the vehicle is controlled by adjusting the acceleration and the steering angle, so that the falling posture of the human body in the human-vehicle collision can be influenced by the moving vehicle, the human-ground collision damage is effectively protected, and the specific implementation steps are as follows:
s1: when the vehicle monitors that the accident is unavoidable, the vehicle is completely braked to the t1 moment when the head of the human body collides with the vehicle body for the first time, the vehicle brake is released after t1, and the speed and the position of the chest of the human body in the x, y and z directions are monitored in real time;
s2: estimating the motion trail of the human chest within 10 time steps after the time according to the speeds vx0, vy0 and vz0 and the positions px0, py0 and pz0 of the human chest in the x, y and z directions monitored at the time t 1;
s3: calculating the difference e1 between the chest position of the human body and the rear edge position of the engine hood in the x direction in the motion trail obtained in the step S2, and dividing the difference e1 into a positive type, a zero type and a negative type; meanwhile, calculating the difference e2 between the chest position of the human body and the middle position of the rear edge of the engine hood in the y direction in the obtained motion trail, and dividing the difference e2 into seven types of negative big, negative middle, negative small, zero, positive small, positive middle and positive big;
s4: controlling the motion of the vehicle in the x direction according to the following rules:
when e1 is positive, the vehicle is accelerated, and the acceleration value is 1m/s2(ii) a When e1 is negative, the vehicle is decelerated, and the acceleration value is taken as-1 m/s2(ii) a When e1 is zero, controlling the acceleration of the vehicle to be zero; in the process, when the vehicle monitors that an obstacle is in front or the positions of the head, the chest and the hips of the human body are lower than the front edge of the engine cover, finishing the motion control in the x direction and completely braking the vehicle;
and controlling the movement of the vehicle in the y direction only after the human-vehicle is out of contact according to the following steps to control the position of the vehicle in place in a short time:
s41: when the condition that e2 is not zero is monitored, a message is sent to the surrounding vehicles to give a clear lane change intention;
s42: only when the people and the vehicles are separated from contact, the surrounding environment is monitored, and the transverse motion of the vehicles is controlled according to the following rules on the premise of confirming safety: if e2 is negative, setting the steering angle of the wheels to-15 degrees; if e2 is negative-medium, the steering angle of the wheels is set to-10 degrees; if e2 is negative, setting the steering angle of the wheels to be-5 degrees; if e2 is zero, setting the wheel steering angle to zero; if e2 is positive small, the wheel steering angle is set to 5 °; if e2 is in the middle, setting the steering angle of the wheels to 10 degrees; if e2 is positive, setting the wheel steering angle to 15 °; the vehicle steering angle is positive in the counterclockwise direction;
s43: after the contact of a human and a vehicle is monitored, setting the steering angle of the wheels to be zero, and finishing the transverse motion control;
meanwhile, the speed and the position of the chest of the human body in the x direction, the y direction and the z direction are continuously monitored in real time;
s5: when the position of the chest of the human body in the z direction is detected to be higher than the front edge height of the engine hood, replacing t1 with the current real-time, and repeating the steps S2, S3 and S4;
s6: when the position of the human chest in the z direction is detected to be lower than the front edge height of the engine hood, the vehicle is completely braked to be stationary.
2. The intelligent vehicle motion control method for protecting human-ground collision damage based on model predictive control according to claim 1, characterized in that: in steps S1 to S6, the x direction indicates the vehicle longitudinal direction at the moment of the human-vehicle collision and points in the vehicle forward direction; the y direction is vertical to the x direction and points to the left side of a driver of the vehicle in the instant of collision of people and the vehicle; the z direction is vertical to the plane defined by the x and the y and points to the upper part of the ground; the position of the human thorax in the x, y and z directions is determined by the coordinates (px, py, pz) of the thorax in a cartesian rectangular coordinate system (x, y, z), the origin of which coincides with the projection of the position of the center of gravity of the vehicle on the ground at the moment of the human-vehicle collision.
3. The intelligent vehicle motion control method for protecting human-ground collision damage based on model predictive control according to claim 1, characterized in that: the estimation method of the human chest motion trajectory in step S2 is as follows:
assuming that the chest of the human body monitored in real time at the time t has the velocities vx0, vy0 and vz0 in the x, y and z directions and the positions px0, py0 and pz0, the chest positions of the human body at the time t +1 are as follows:
px1＝px0+vx0×Ts,
py1＝py0+vy0×Ts,
pz1＝pz0+vz0×Ts-g×Ts×Ts/2,
in the formula, g is the local gravity acceleration, Ts is the time step length, and the time step length is determined according to the sampling frequency of the intelligent vehicle monitoring equipment; and the motion trail of the chest of the human body within 10 time steps after the t moment can be obtained by calculating 10 times by analogy.
4. The intelligent vehicle motion control method for protecting human-ground collision damage based on model predictive control according to claim 1, characterized in that: in step S3, negative big finger e2< -0.5m, negative middle finger-0.5 m < e2< -0.3m, negative little finger-0.3 m < e2<0m, positive little finger 0m < e2<0.3m, middle finger 0.3m < e2<0.5m, and positive big finger e2>0.5 m.
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