Intelligent Driving Path Tracking Algorithm Considering Driver Characteristics

被引：0
|
作者：
Jin L. [1 ]
Xie X. [1 ]
Si F. [2 ]
Guo B. [1 ]
Shi J. [3 ]
机构：
[1] School of Vehicle and Energy, Yanshan University, Qinhuangdao
[2] Transportation College of Jilin University, Changchun
[3] School of Mechanical Engineering, Beijing Institute of Technology, Beijing
来源：
Qiche Gongcheng/Automotive Engineering | 2021年 / 43卷 / 04期
关键词：
Driver characteristics; Intelligent vehicle; Model predictive control; Path tracking;
D O I：
10.19562/j.chinasae.qcgc.2021.04.013
中图分类号：
学科分类号：
摘要：
In view of the fact that most of the existing intelligent vehicle path tracking algorithms take little account of the driver characteristics, an intelligent driving path tracking algorithm based on driver characteristic is proposed. Firstly, k-means algorithm is used to cluster and analyze the relevant data obtained from the real vehicle tests. According to the regularity and difference of handling characteristic parameters, the characteristics of drivers are divided into three types: normal type, radical type and conservative type. Then, according to the classification and clustering results of driver characteristics, the different preferences of different types of drivers for vehicle lateral and longitudinal driving state are integrated into the design of trajectory tracking control strategy. Finally, the intelligent driving path tracking controller is designed based on the model predictive control and the cost function and constraints of the controller are designed based on the results of data clustering. The simulation results demonstrate that the vehicle path tracking control strategy proposed in this paper has high tracking accuracy and speed control accuracy. And the vehicle response changes in the tracking process can reflect the characteristics of different drivers. The path tracking speed error is less than 2% and the lateral tracking error is less than 0.13 m. © 2021, Society of Automotive Engineers of China. All right reserved.
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页码：553 / 561
页数：8
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