CN119058812B - A human-like control intention decision method for four-wheel independent driving and independent steering - Google Patents
A human-like control intention decision method for four-wheel independent driving and independent steering Download PDFInfo
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Abstract
本发明属于汽车转向控制技术领域，尤其为一种四轮独立驱动独立转向类人化操纵意图决策方法，包括转向模式判断模块、操纵意图解析模块、横纵向运动协调模块，转向模式判断模块，用于获取当前车辆信息，判断当前条件是否满足期望转向模式需求，若不满足设为默认四轮转向模式，操纵意图解析模块，结合当前车辆转向模式特点，根据心理物理学定律设计驾驶员操纵输入和期望运动状态的关系，实现操纵意图决策类人化。本发明基于心理物理学定律设计各自的驾驶员操作和侧向期望运动之间的对应关系，为后续控制器的设计提供有理论依据的期望值，并且该期望值符合类人化需求，实现四轮独立驱动独立转向车辆类人化操纵意图决策方法。
The present invention belongs to the field of automobile steering control technology, and is particularly a four-wheel independent drive independent steering humanized manipulation intention decision method, including a steering mode judgment module, a manipulation intention analysis module, and a lateral and longitudinal motion coordination module. The steering mode judgment module is used to obtain current vehicle information and judge whether the current conditions meet the expected steering mode requirements. If not, it is set to the default four-wheel steering mode. The manipulation intention analysis module combines the current vehicle steering mode characteristics and designs the relationship between the driver's manipulation input and the expected motion state according to the psychophysical law to achieve humanized manipulation intention decision. The present invention designs the corresponding relationship between the respective driver operations and the lateral expected motion based on the psychophysical law, provides a theoretically based expected value for the design of the subsequent controller, and the expected value meets the humanized requirements, thereby achieving a humanized manipulation intention decision method for a four-wheel independent drive independent steering vehicle.
Description
Technical Field
The invention relates to the technical field of automobile steering control, in particular to a four-wheel independent driving independent steering humanized operation intention decision method.
Background
With the development of technologies such as electric automobiles and automatic driving, a four-wheel independent driving independent steering vehicle is an important platform for carrying new technologies. The four-wheel independent driving independent steering vehicle respectively and independently controls the rotation angle and the torque of each wheel through the wheel edge actuators, so that the control precision is improved. The mechanical connection structure in the traditional automobile is replaced, multiple steering modes such as four-wheel steering, in-situ steering, wedge steering and the like can be realized, and compared with the traditional automobile, the automobile has more flexible control performance, and can also show higher maneuverability under complex road conditions and special scenes. However, since the steering wheel is not directly connected with the wheels, the steering angle and torque of the wheels cannot be calculated through parameters such as steering ratio, transmission ratio and the like, and the target quantity under the current working condition needs to be provided for control. The vehicle steering intention needs to be determined in conjunction with the actual motion state and the current operation amount of the driver. The driver also performs feedback control on the state of the vehicle depending on the feeling of the sense organ to the external stimulus. Therefore, the expected motion states under different steering modes are determined by combining subjective feeling of a driver and the motion states of the vehicle, the four-wheel independent driving independent steering motion expected value setting accords with the characteristics of the driver operating a traditional vehicle, and the determined motion intensity accords with the driver expectation.
The invention patent CN114919587a discloses a method for controlling the coordination of the transverse and longitudinal movements of a vehicle, which determines the expected movement trend and the change rate of the driver according to the operation instructions of the accelerator pedal/brake pedal and the steering wheel of the driver, and then calculates the expected steering movement center position of the whole vehicle according to the expected and actual movements and the change rate. On the basis, the expected rotation angle and the expected rotation speed of each wheel are determined based on the fact that the steering centers of the wheels meet the expected steering movement center of the whole vehicle, and the expected torque of each wheel is calculated with the aim of tracking the expected rotation speed, so that the method is suitable for various steering modes. However, the influence of the time lag of the system is not considered, and the invention further combines the psychophysics law to coordinate the transverse and longitudinal movements on the basis of considering the time lag of the system.
The invention patent CN117408307a provides a model for quantifying the relationship between vehicle longitudinal and lateral handling behavior and passenger riding experience, which comprises a psychophysics module, a data-driven module and an ensemble learning module. Based on the principle of quantitative psychology, feature vectors are extracted from input parameters, the relation between vehicle dynamics sequences generated by different vehicle operation behaviors and subjective experiences of passengers is quantitatively analyzed, the output of a psychophysics module and the output of a data driving sub-module are taken as inputs, the outputs of the two sub-models are fused through a full-connection network, and an output result of the whole model is obtained, wherein the result is an index of driving comfort corresponding to the currently input vehicle dynamics sequences. But does not consider the psychophysical desired movement of the various steering modes.
In order to solve the problems, the invention provides a four-wheel independent driving independent steering humanized steering intention decision method, which can analyze the steering intention aiming at different steering modes.
Disclosure of Invention
(One) solving the technical problems
Aiming at the defects of the prior art, the invention provides a four-wheel independent driving independent steering humanized operation intention decision method, which solves the problems in the background art.
(II) technical scheme
The invention adopts the following technical scheme for realizing the purposes:
A four-wheel independent drive independent steering humanized maneuver intention decision method, the decision method comprising the steps of:
Step 1, acquiring a vehicle state and a currently set steering mode through a sensor signal, calculating a current vehicle speed Vx and a yaw rate r, judging whether the current state meets the steering mode requirement, and if not, switching to a default four-wheel steering mode;
Step 2, acquiring the current accelerator pedal opening alpha, steering wheel rotation delta and steering wheel moment T through sensor signals as input operation amounts, and establishing the relation between steering wheel torque and expected lateral acceleration ay for front wheel steering, rear wheel steering and four wheel steering according to Weber-Fechner and Stevens psychophysics law in terms of steering movement intensity intention recognition;
Wherein Weber-Fechner's law defines an absolute threshold as the minimum physical stimulus that causes psychological perception, and a differential threshold as the minimum physical stimulus change that causes differential perception, and in the event that the absolute threshold is exceeded, the formula is as follows:
wherein, P is subjective feeling, r is stimulus intensity, K is Weber constant, and the functional relation between subjective feeling P and stimulus intensity r obtained by integrating the left and right sides of the above formula is:
P=Kln(r)+C
Stevens' law is widely applied, is suitable for describing various perception systems, can process stimulation with wide variation, can be better suitable for different senses and stimulus types through a form of a power function, and has the following formula:
S=K*In
Where S is the perceived sensory intensity, I is the physical stimulus intensity, K is the proportionality constant, n is the index, depending on the different sensory and stimulus types;
In the conventional modes including four-wheel steering, front-wheel steering and rear-wheel steering, combining the research of GM company on steering wheel moment and expected lateral acceleration, combining psychophysics law to design a corresponding relation curve of moment and lateral acceleration, the company researching ideal steering wheel moment characteristics under different vehicle speeds when the lateral acceleration is 0.3g, obtaining statistical results, proving to accord with Stevens law, and obtaining psychophysics coefficients under each vehicle speed through curve fitting on the basis;
For oblique steering, the steering wheel turning angle corresponds to lateral speed in the mode, the centroid slip angle is calculated to represent lateral movement intensity in combination with the vehicle speed, the steering mode is different from the conventional mode, the highest running speed of the vehicle is required to be limited to avoid stability problems under the medium-high speed condition after the steering mode is entered, the Stevens law is combined, the longitudinal speed influence is considered, and the following formula is obtained:
for in-situ steering, no longitudinal speed exists in the mode, the mode is switched after the vehicle is completely stopped, the steering speed and the steering wheel angle accord with Stevens law, the yaw rate under the condition of limiting the steering wheel position is obtained through experiments under the consideration of comfort, and the following formula is obtained through parameter fitting:
according to the relation between the opening degree of the corresponding accelerator pedal and the expected acceleration, according to the previous study, the Weber-Fechner and Stevens law is used for designing corresponding to different intentions, and a psychophysical formula is obtained as follows:
wherein ad is a desired acceleration, delta alpha is the deviation between the opening of an accelerator pedal and the opening of a steady pedal at the current vehicle speed, K1, K2, K3, C1, n2 and C3 are constants, the absolute threshold is lower limit, delta alpha - is absolute threshold is upper limit, and delta alpha + is absolute threshold;
step 3, performing horizontal and vertical motion coordination control according to the obtained expected motion, wherein the horizontal and vertical hysteresis effect existing in the traditional automobile is mainly considered to be consistent with the steering habit of a common driver, the steering hysteresis effect on the traditional automobile is simulated, and the instantaneous characteristic displayed in the instantaneous steering process can be described by a relaxation length due to the nonlinear effect of the tire, namely, how the change of the force is gradually transferred to the grounding point of the tire along with time or displacement after the tire is subjected to the action of external force;
in the steering transient response process, the nonlinear characteristic of the tire causes certain hysteresis between the lateral force and the lateral speed in the steering process, and the transfer function is as follows:
Wherein v s is the lateral speed, F ext is the lateral external force, m w is the mass of the whole vehicle, v r is the rolling speed of the vehicle wheel, sigma is the relaxation length, C α is the cornering stiffness of the tire, the system is a second-order system, and the time constant is as follows:
Where ζ is the system damping ratio and ω n is the natural frequency, since the time constant response time from transient to steady state can be approximated to express the hysteresis effect of the steering.
Further, the device for executing the decision method comprises a steering mode judging module, a maneuvering intention analyzing module and a transverse and longitudinal movement coordination module.
Further, the steering mode judging module is configured to obtain current vehicle information, judge whether a current condition meets a requirement of an expected steering mode, and set a default four-wheel steering mode if the current condition does not meet the requirement.
Further, the steering intention analysis module is used for designing the relation between the steering input and the expected motion state of the driver according to the psychophysics law by combining the characteristics of the current steering mode of the vehicle, so as to realize the humanization of the steering intention decision.
Further, the transverse and longitudinal movement intention coordination module is used for coordinating transverse and longitudinal movement by considering the steering hysteresis effect in combination with the current steering mode and the expected movement state obtained by psychophysics.
(III) beneficial effects
Compared with the prior art, the invention provides a four-wheel independent driving independent steering humanized operation intention decision method, which has the following beneficial effects:
aiming at the characteristics of different steering modes, the invention designs the corresponding relation between the respective driver operation and the lateral expected movement based on psychophysics law, provides an expected value with theoretical basis for the design of a subsequent controller, accords with the humanized requirement, and realizes the humanized operation intention decision method of the four-wheel independent driving independent steering vehicle.
Drawings
FIG. 1 is a schematic diagram of the system of the present invention;
FIG. 2 is a graph of accelerator opening versus desired acceleration for a psycho-physical module of the present invention at various vehicle speeds;
FIG. 3 is a graph of steering wheel torque versus desired lateral acceleration for a psycho-physical module of the present invention in a conventional mode;
FIG. 4 is a graph of the psycho-physical module of the present invention for steering the lower steering wheel in a sideways direction versus the desired centroid slip angle;
fig. 5 is a graph of the in-situ steering of the lower steering wheel angle versus the desired yaw rate for the psycho-physical module of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Examples
As shown in fig. 1-5, an embodiment of the present invention provides a four-wheel independent driving independent steering humanized steering intention decision method, which includes the following steps:
Step 1, acquiring a vehicle state and a currently set steering mode through a sensor signal, calculating a current vehicle speed Vx and a yaw rate r, judging whether the current state meets the steering mode requirement, and if not, switching to a default four-wheel steering mode;
Step 2, acquiring the current accelerator pedal opening alpha, steering wheel rotation delta and steering wheel moment T through sensor signals as input operation amounts, and establishing the relation between steering wheel torque and expected lateral acceleration ay for front wheel steering, rear wheel steering and four wheel steering according to Weber-Fechner and Stevens psychophysics law in terms of steering movement intensity intention recognition;
Wherein Weber-Fechner's law defines an absolute threshold as the minimum physical stimulus that causes psychological perception, and a differential threshold as the minimum physical stimulus change that causes differential perception, and in the event that the absolute threshold is exceeded, the formula is as follows:
wherein, P is subjective feeling, r is stimulus intensity, K is Weber constant, and the functional relation between subjective feeling P and stimulus intensity r obtained by integrating the left and right sides of the above formula is:
P=Kln(r)+C
Stevens' law is widely applied, is suitable for describing various perception systems, can process stimulation with wide variation, can be better suitable for different senses and stimulus types through a form of a power function, and has the following formula:
S=K*In
Where S is the perceived sensory intensity, I is the physical stimulus intensity, K is the proportionality constant, n is the index, depending on the different sensory and stimulus types;
In the conventional modes including four-wheel steering, front-wheel steering and rear-wheel steering, combining the research of GM company on steering wheel moment and expected lateral acceleration, combining psychophysics law to design a corresponding relation curve of moment and lateral acceleration, the company researching ideal steering wheel moment characteristics under different vehicle speeds when the lateral acceleration is 0.3g, obtaining statistical results, proving to accord with Stevens law, and obtaining psychophysics coefficients under each vehicle speed through curve fitting on the basis;
For oblique steering, the steering wheel turning angle corresponds to lateral speed in the mode, the centroid slip angle is calculated to represent lateral movement intensity in combination with the vehicle speed, the steering mode is different from the conventional mode, the highest running speed of the vehicle is required to be limited to avoid stability problems under the medium-high speed condition after the steering mode is entered, the Stevens law is combined, the longitudinal speed influence is considered, and the following formula is obtained:
for in-situ steering, no longitudinal speed exists in the mode, the mode is switched after the vehicle is completely stopped, the steering speed and the steering wheel angle accord with Stevens law, the yaw rate under the condition of limiting the steering wheel position is obtained through experiments under the consideration of comfort, and the following formula is obtained through parameter fitting:
according to the relation between the opening degree of the corresponding accelerator pedal and the expected acceleration, according to the previous study, the Weber-Fechner and Stevens law is used for designing corresponding to different intentions, and a psychophysical formula is obtained as follows:
wherein ad is a desired acceleration, delta alpha is the deviation between the opening of an accelerator pedal and the opening of a steady pedal at the current vehicle speed, K1, K2, K3, C1, n2 and C3 are constants, the absolute threshold is lower limit, delta alpha - is absolute threshold is upper limit, and delta alpha + is absolute threshold;
step 3, performing horizontal and vertical motion coordination control according to the obtained expected motion, wherein the horizontal and vertical hysteresis effect existing in the traditional automobile is mainly considered to be consistent with the steering habit of a common driver, the steering hysteresis effect on the traditional automobile is simulated, and the instantaneous characteristic displayed in the instantaneous steering process can be described by a relaxation length due to the nonlinear effect of the tire, namely, how the change of the force is gradually transferred to the grounding point of the tire along with time or displacement after the tire is subjected to the action of external force;
in the steering transient response process, the nonlinear characteristic of the tire causes certain hysteresis between the lateral force and the lateral speed in the steering process, and the transfer function is as follows:
Wherein v s is the lateral speed, F ext is the lateral external force, m w is the mass of the whole vehicle, v r is the rolling speed of the vehicle wheel, sigma is the relaxation length, C α is the cornering stiffness of the tire, the system is a second-order system, and the time constant is as follows:
Where ζ is the system damping ratio and ω n is the natural frequency, since the time constant response time from transient to steady state can be approximated to express the hysteresis effect of the steering.
The decision method comprises a steering mode judging module, an operation intention analyzing module and a transverse and longitudinal movement coordination module.
The steering mode judging module is used for acquiring current vehicle information and judging whether the current condition meets the requirement of an expected steering mode or not, and if the current condition does not meet the requirement, the default four-wheel steering mode is set.
The steering intention analysis module is used for designing the relation between the steering input and the expected motion state of the driver according to the psychophysics law by combining the characteristics of the current steering mode of the vehicle, so as to realize the humanization of the steering intention decision.
And the transverse and longitudinal movement intention coordination module is used for coordinating transverse and longitudinal movement by considering the steering hysteresis effect in combination with the current steering mode and the expected movement state obtained by psychophysics.
The invention considers the horizontal and vertical steering intention humanized design of a driver in different steering modes, combines the Weber-Fechner law to design the vertical steering intention, the Stevens law to design the horizontal steering intention, and considers the hysteresis effect caused by the transient characteristic of the tire. By combining the operation characteristics of different modes, the inclined mode and the in-situ steering mode are similar to steady state in the movement process and relatively little in transverse and longitudinal movement change due to lower vehicle speed, and the coordination is carried out on the movement corresponding to the steering intention of the conventional modes, namely four-wheel steering, front wheel steering and rear wheel steering, so that the longitudinal vehicle speed in the steering intention recognition module is changed by updating the vehicle speed.
It should be noted that the above-mentioned embodiments are merely preferred embodiments of the present invention, and the present invention is not limited thereto, but may be modified or substituted for some of the technical features thereof by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (5)
1. A four-wheel independent driving independent steering humanized operation intention decision method is characterized by comprising the following steps:
Step 1, acquiring a vehicle state and a currently set steering mode through a sensor signal, calculating a current vehicle speed Vx and a yaw rate r, judging whether the current state meets the steering mode requirement, and if not, switching to a default four-wheel steering mode;
Step 2, acquiring the current accelerator pedal opening alpha, steering wheel rotation delta and steering wheel moment T through sensor signals as input operation amounts, and establishing the relation between steering wheel torque and expected lateral acceleration ay aiming at front wheel steering, rear wheel steering and four-wheel steering according to the Weber-Fechner and Stevens psychophysics law in terms of steering movement intensity intention recognition, and establishing the relation between steering wheel rotation angle and centroid side deflection angle in a diagonal steering mode and establishing the relation between rotation angle and yaw angle in a pivot steering mode;
Wherein, the Weber-Fechner law defines an absolute threshold as the minimum physical stimulus causing psychological feeling, and defines a differential threshold as the minimum physical stimulus variation causing differential feeling, and the formula is as follows in the case that the absolute threshold is exceeded:
;
wherein, P is subjective feeling, r is stimulus intensity, K is Weber constant, and the functional relation between subjective feeling P and stimulus intensity r obtained by integrating the left and right sides of the above formula is:
;
Stevens' law is widely applied, is suitable for describing various perception systems, can process stimulation with wide variation, and can be better suitable for different senses and stimulus types through a form of a power function, and the formula is as follows:
;
Where S is the perceived sensory intensity, I is the physical stimulus intensity, K is the proportionality constant, n is the index, depending on the different sensory and stimulus types;
In the conventional modes including four-wheel steering, front-wheel steering and rear-wheel steering, regarding the research of steering wheel moment and expected lateral acceleration, designing a corresponding relation curve of moment and lateral acceleration by combining a psychophysics law, researching ideal steering wheel moment characteristics under different vehicle speeds when the lateral acceleration is 0.3g, obtaining a statistical result, proving to accord with Stevens law, and obtaining psychophysics coefficients under each vehicle speed by curve fitting on the basis;
Aiming at a diagonal steering mode, the steering wheel turning angle in the diagonal steering mode corresponds to lateral speed, the centroid side deflection angle is calculated to represent the lateral movement intensity by combining the vehicle speed, the diagonal steering mode is different from a conventional mode, the highest running speed of the vehicle is required to be limited to avoid the stability problem under the condition of medium and high speed after entering the diagonal steering mode, and the following formula is obtained by considering the longitudinal speed influence by combining the Stevens law:
;
For the in-situ steering mode, the in-situ steering mode has no longitudinal speed, the in-situ steering mode is switched after the vehicle is completely stopped, the steering speed and the steering wheel angle accord with Stevens law, and the yaw rate under the condition of considering comfort is obtained through experiments under the condition of limiting the steering wheel position to be And performing parameter fitting to obtain the following formula:
;
according to the relation between the opening degree of the corresponding accelerator pedal and the expected acceleration, according to the previous study, the Weber-Fechner and Stevens law is used for designing corresponding to different intentions, and a psychophysical formula is obtained as follows:
;
Wherein, ad is the expected acceleration, delta alpha is the deviation of the opening degree of an accelerator pedal and the opening degree of a steady pedal under the current vehicle speed, K1, K2, K3, C1, n2 and C3 are constants, and the acceleration is obtained by fitting, Is the absolute lower threshold limit of the threshold,Is the absolute threshold upper limit;
step 3, performing horizontal and vertical motion coordination control according to the obtained expected motion, wherein the horizontal and vertical hysteresis effect existing in the traditional automobile is mainly considered to be consistent with the steering habit of a common driver, the steering hysteresis effect on the traditional automobile is simulated, and the instantaneous characteristic displayed in the instantaneous steering process can be described by a relaxation length due to the nonlinear effect of the tire, namely, how the change of the force is gradually transferred to the grounding point of the tire along with time or displacement after the tire is subjected to the action of external force;
in the steering transient response process, the nonlinear characteristic of the tire causes certain hysteresis between the lateral force and the lateral speed in the steering process, and the transfer function is as follows:
;
Wherein, In order to be able to achieve a lateral velocity,Is an external force in the lateral direction,Is the quality of the whole vehicle,For the rolling speed of the wheel of the vehicle,In order to relax the length of the sheet,For tire cornering stiffness, the system is a second order system with a time constant of:
;
Wherein, In order to achieve a system damping ratio,Is a natural frequency, because the time constant response is from transient to steady state transition time, the hysteresis effect of steering can be approximated.
2. The four-wheel independent driving independent steering humanized steering intention decision method according to claim 1, wherein the device for executing the decision method comprises a steering mode judgment module, a steering intention analysis module and a transverse and longitudinal movement coordination module.
3. The four-wheel independent driving independent steering humanized steering intention decision method of claim 2, wherein the steering mode judgment module is used for acquiring current vehicle information and judging whether the current condition meets the requirement of an expected steering mode or not, and if the current condition does not meet the requirement, the default four-wheel steering mode is set.
4. The four-wheel independent driving independent steering humanized steering intention decision method of claim 2, wherein the steering intention analysis module is used for designing the relation between the steering input and the expected motion state of a driver according to a psychophysics law by combining the characteristics of the steering mode of the current vehicle, so as to realize the steering intention decision humanized.
5. The four-wheel independent driving independent steering humanized operation intention decision method is characterized in that the transverse and longitudinal movement coordination module is used for coordination of transverse and longitudinal movement by considering a steering hysteresis effect in combination with a current steering mode and a desired movement state obtained by psychophysics.
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| CN116890914A (en) * | 2022-04-06 | 2023-10-17 | 丰田研究所 | System and method for suggesting steering angle using visual feedback on wheels |
| CN117408307A (en) * | 2023-11-01 | 2024-01-16 | 上海交通大学 | Model for quantifying the relationship between vehicle longitudinal and lateral handling behavior and passenger riding experience |
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| CN116890914A (en) * | 2022-04-06 | 2023-10-17 | 丰田研究所 | System and method for suggesting steering angle using visual feedback on wheels |
| CN117408307A (en) * | 2023-11-01 | 2024-01-16 | 上海交通大学 | Model for quantifying the relationship between vehicle longitudinal and lateral handling behavior and passenger riding experience |
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