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浙江大学学报(工学版)
浙江大学学报(工学版)  2024, Vol. 58 Issue (7): 1377-1386    DOI: 10.3785/j.issn.1008-973X.2024.07.007
交通工程、土木工程     
考虑驾驶风格的车辆避障控制系统
李攀1(),周兵1,柴天1,*(),邓园2,潘倩兮1,吴晓建3
1. 湖南大学 整车先进设计制造技术全国重点实验室，湖南 长沙 410082
2. 舍弗勒智能驾驶科技（长沙）有限公司，湖南 长沙 410036
3. 南昌大学 先进制造学院，江西 南昌 330031
Vehicle obstacle avoidance control system considering driving style
Pan LI1(),Bing ZHOU1,Tian CHAI1,*(),Yuan DENG2,Qianxi PAN1,Xiaojian WU3
1. State Key Laboratory of Advanced Design and Manufacturing Technology for Vehicle, Hunan University, Changsha 410082, China
2. Schaeffler Intelligent Driving Technology (Changsha) Limited Company, Changsha 410036, China
3. School of Advanced Manufacturing, Nanchang University, Nanchang 330031, China
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摘要：

传统避障控制系统设计未考虑不同驾驶员的偏好，导致驾驶员对系统的接受度不高，为此提出融入驾驶风格量化的避障控制系统. 采集多名熟练驾驶员的驾驶数据进行风格聚类，训练出基于支持向量机的分类器，实现对驾驶风格的在线识别. 设计考虑驾驶风格的避障控制系统，将避障过程分为转向避障和恢复稳定2个阶段. 在转向避障阶段，控制器通过跟踪相应驾驶风格对应的最大侧向加速度进行避障；在恢复稳定阶段，控制器控制车辆进行相邻车道中心线跟踪. 综合考虑车辆的避障安全性和横摆稳定性，将直接横摆力矩控制子系统加入所提系统. 构建系统仿真模型，分析不同驾驶风格下控制器避障操作和车辆状态响应的异同. 开展驾驶员主观感受的问卷调查，结果表明，相较于传统避障控制系统，驾驶员对所提系统的接受度提升了16.58%.
关键词： 驾驶风格;  机器学习;  转向避障;  横向控制;  主观评价    
Abstract:

An obstacle avoidance control system integrating the quantified driving style was proposed to resolve the problem that the traditional obstacle avoidance control system did not consider the preferences of different drivers, leading to low acceptance of the system by drivers. Firstly, the driving data from several skilled drivers were acquired for style clustering, and a classifier based on support vector machine was obtained to realize the online recognition of driving styles. Then, the obstacle avoidance control system considering driving style was designed, dividing the obstacle avoidance process into an obstacle avoidance by steering stage and a stability restoration stage. In the obstacle avoidance by steering stage, the controller avoided obstacles by tracking the maximum lateral acceleration of the corresponding driving style. In the stability restoration stage, the controller controlled the vehicle to track the center line of the adjacent lane. Moreover, in the whole obstacle avoidance process, a direct yaw-moment control subsystem was added considering the obstacle avoidance safety and yaw stability of the vehicle. Finally, a simulation model of the system was established to analyse the similarities and differences of the obstacle avoidance operation and the vehicle state response under different driving styles. A survey of drivers’ subjective feelings was conducted, and the results showed that drivers’ acceptance of the proposed system increased by 16.58% compared to the traditional obstacle avoidance system.
Key words: driving style    machine learning    obstacle avoidance by steering    lateral control    subjective evaluation
收稿日期: 2023-11-09 出版日期: 2024-07-01
CLC:  U 463.1  
基金资助: 国家自然科学基金资助项目（52002163, 52262054, 52202466）；湖南省自然科学基金资助项目（2022JJ40059）；湖南大学整车先进设计制造技术全国重点实验室开放基金资助项目（32065008）.
通讯作者: 柴天     E-mail: lipan921@hnu.edu.cn;chaitian@hnu.edu.cn
作者简介: 李攀（1998—），男，硕士生，从事车辆动力学与控制研究. orcid.org/0009-0000-2324-740X. E-mail：lipan921@hnu.edu.cn
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李攀
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吴晓建

引用本文:

李攀,周兵,柴天,邓园,潘倩兮,吴晓建. 考虑驾驶风格的车辆避障控制系统[J]. 浙江大学学报(工学版), 2024, 58(7): 1377-1386.

Pan LI,Bing ZHOU,Tian CHAI,Yuan DENG,Qianxi PAN,Xiaojian WU. Vehicle obstacle avoidance control system considering driving style. Journal of ZheJiang University (Engineering Science), 2024, 58(7): 1377-1386.

链接本文:

https://www.zjujournals.com/eng/CN/10.3785/j.issn.1008-973X.2024.07.007    或    https://www.zjujournals.com/eng/CN/Y2024/V58/I7/1377

图 1  八自由度车辆模型
图 2  驾驶模拟器组成
图 3  不同聚类数量下的数据畸变程度
图 4  驾驶风格聚类结果
图 5  不同驾驶风格的主要特征参数对比图
分类模型Acc/%F1/%AUC/%
最近邻88.0488.0596.75
逻辑回归90.0189.9498.70
决策树88.8088.9591.60
梯度提升94.0794.1699.30
自适应增强75.5273.2486.76
随机森林93.6393.7199.40
高斯朴素贝叶斯64.6565.4383.92
线性判别分析88.0487.8197.97
二次判别分析84.9685.1695.74
支持向量机94.4094.3299.40
表 1  各驾驶风格分类算法结果
图 6  支持向量机分类器测试集混淆矩阵
图 7  避障控制流程
图 8  避障控制系统的整体结构
图 9  避障安全约束示意图
图 10  不同避障算法的避障轨迹对比图(vx =20 m/s)
图 11  不同避障算法的前轮转角对比图(vx =20 m/s)
图 12  不同避障算法的侧向加速度对比图(vx =20 m/s)
图 13  不同避障算法的避障轨迹对比图(vx =24 m/s)
图 14  不同避障算法的前轮转角对比图(vx =24 m/s)
图 15  不同避障算法的侧向加速度对比图(vx=24 m/s)
图 16  激进型驾驶风格避障时的轮胎使用率
图 17  不同避障算法的主观评价得分对比
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