Velocity Control Strategies to Improve Automated Vehicle Driving Comfort
Velocity Control Strategies to Improve Automated Vehicle Driving Comfort
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DOI：
10.1109/mits.2017.2776148
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发表时间：
2018-03-01
影响因子：
3.6
通讯作者：
Li, Yishun
中科院分区：
文献类型：
--
作者：
Du, Yuchuan;Liu, Chenglong;Li, Yishun
自动驾驶汽车正迅速成为新一代的交通工具。相关研究主要集中在防撞、车道保持、协调控制等方面，以保证行车安全和提高效率，对乘客舒适性的关注较少。本文在保证行车安全的基础上，提出了一套基于舒适性的车速控制策略。驾驶舒适性是通过安装在车内的多个加速度传感器来评价的。采用功率谱密度分析和1/3倍频程滤波技术，得到了作为舒适性评价指标的加权均方根加速度。提出了描述个体振动敏感性的烦恼率模型。进行了现场试验，以调查路面粗糙度，速度和舒适度之间的相互作用，并确定多个线性关系。考虑了三个典型的过程：减速阶段，匀速阶段和异常情况。利用双曲正切函数提供适度减速。模型参数的设置，以保证最大的减速度和加加速度在可接受的范围内。采用非线性规划方法，在快速减速和异常障碍物引起的颠簸之间进行平衡。所提出的策略可以潜在地应用于自动驾驶车辆，以提高自动驾驶的感知质量。
Automated vehicles are rapidly emerging as the new generation of transport tools. Relevant research mainly focuses on collision avoidance, lane keeping, and coordination control to ensure driving safety and improve efficiency, with little emphasis on passenger comfort. This paper proposes a set of comfort-based velocity control strategies on the basis of driving safety. Driving comfort was evaluated by multiple accelerometers fixed inside vehicles. Power spectral density analysis and one-third octave band filtering were applied to derive the weighted root mean square acceleration as an evaluation indicator for comfort. The annoy rate model is proposed to describe individual sensitivity to vibration. Field tests were conducted to investigate interactions between pavement roughness, speed, and comfort, and multiple linear relationships were identified. Three typical processes were considered: deceleration phase, uniform speed phase and abnormal occasions. The hyperbolic tangent function was utilized to provide moderate deceleration. Model parameters were set to guarantee maximal deceleration and jerk within acceptable limits. Nonlinear programming was used to balance between rapid deceleration and bumps caused by abnormal obstacles. The proposed strategy can potentially be applied for automated vehicles to improve the perceived quality of automated driving.