面向车辆纵向动力学控制的制动意图识别综述
|
摘要
制动意图识别作为新型线控制动系统控制的先决条件,其识别结果的优劣直接影响车辆控制系统的精度,进而影响特定工况下的车辆行车安全性,因此为了提高车辆的主动安全性,提升车辆的制动性能,针对车辆动力学中的纵向稳定性控制问题,以制动意图为切入点,介绍了目前制动意图的分类,概述了基于制动意图识别的车辆动力学控制的国内外研究现状;结合制动意图识别特征的选取问题,重点对比分析了几种典型的制动意图识别方法,包括模糊推理系统、神经网络、自适应神经模糊推理系统、隐马尔可夫模型和聚类分析;结合当下研究现状指出了合理选取特征参数、转换输出目标、多标准评价体系是面向车辆动力学控制的制动意图识别的研究重点和方向。
As a prerequisite for the control of the brake by wire system, the identification of braking intention has a direct impact on the accuracy of the vehicle control system, and it affects the vehicle running safety under specific working conditions, thus, in order to improve the active safety and braking performance of the vehicle, aiming at the longitudinal stability control problem in vehicle dynamics, the braking intention is taken as the breakthrough point, and the classification of braking intentions is introduced. At the same time, the vehicle dynamics control of braking intention recognition based on the research status at home and abroad is outlined. Besides, combining with the braking intention recognition feature selection problem, several typical braking intention recognition methods, including fuzzy inference system, neural network, adaptive neural fuzzy inference system, hidden Markov model and cluster analysis, are comparatively analyzed. Considering the status quo of research, the research emphasis and direction of braking intention recognition for vehicle dynamics control is pointed out, including reasonably selecting characteristic parameters, transition of export target and multistandard evaluation system.
As a prerequisite for the control of the brake by wire system, the identification of braking intention has a direct impact on the accuracy of the vehicle control system, and it affects the vehicle running safety under specific working conditions, thus, in order to improve the active safety and braking performance of the vehicle, aiming at the longitudinal stability control problem in vehicle dynamics, the braking intention is taken as the breakthrough point, and the classification of braking intentions is introduced. At the same time, the vehicle dynamics control of braking intention recognition based on the research status at home and abroad is outlined. Besides, combining with the braking intention recognition feature selection problem, several typical braking intention recognition methods, including fuzzy inference system, neural network, adaptive neural fuzzy inference system, hidden Markov model and cluster analysis, are comparatively analyzed. Considering the status quo of research, the research emphasis and direction of braking intention recognition for vehicle dynamics control is pointed out, including reasonably selecting characteristic parameters, transition of export target and multistandard evaluation system.
引文
[1] 彭晓燕. 汽车线控制动系统安全控制技术研究[D].长沙:湖南大学,2013.PENG Xiaoyan. Research on Safety Control Method of Automotive Brake System Based on X-By-Wire[D].Changsha: Hunan University,2013.
[2] 何磊. 基于路面在线识别的线控制动系统制动力控制策略研究[D].长沙:湖南大学,2016.HE Lei. The Braking Force Control Strategy Based on Road Identification Technology for Brake-By-Wire System [D].Changsha: Hunan University,2016.
[3] 卜未琦. 全线控纯电动汽车行驶状态估算与路面识别[D].长春:吉林大学,2014.BU Weiqi. State Estimation and Road Identification for a Full Drive-By-Wire Electric Vehicle[D].Changchun: Jilin University, 2014.
[4] 袁朝春,张龙飞,陈龙.路面附着系数识别方法发展现状综述及展望[J].机械制造与自动化,2018,47(2):1-4.YUAN Chaochun,ZHANG Longfei,CHEN Long. Summary and prospect of development of road coefficient identification methods[J].Machine Building & Automation,2018,47(2):1-4.
[5] 彭晓燕,章兢,陈昌荣.基于RBF神经网络的最佳滑移率在线计算方法[J].机械工程学报,2011,47(14):108-113.PENG Xiaoyan,ZHANG Jing,CHEN Changrong. Calculation of RBF neural network based optimal slip ratio[J]. Journal of Mechanical Engineering, 2011,47(14):108-113.
[6] 周淑文,陈庆明,孙大明.基于EMB系统的整车ABS滑模变结构控制[J].东北大学学报(自然科学版),2016,37(7):994-997.ZHOU Shuwen,CHEN Qingming,SUN Daming. Variable structure control with sliding mode for ABS of vehicle based on EMB system[J].Journal of Northeastern University(Natural Science), 2016,37(7):994-997.
[7] 李顶根,张绿原,何保华.基于滑移率的汽车电子机械制动系统的模糊控制[J].机械工程学报,2012,48(20):124-129.LI Dinggen,ZHANG Lvyuan,HE Baohua. Fuzzy control based on vehicle slip-ratio for electro-mechanical braking systems[J]. Journal of Mechanical Engineering, 2012,48(20):124-129.
[8] 彭晓燕,吕以滨,何磊.基于滑移率的线控制动系统制动力分配策略研究[J].中国机械工程,2016,27(17):2407-2412.PENG Xiaoyan,LV Yibin,HE Lei.Research on brake-force distribution strategies for brake-by-wire system based on slip ratio[J].China Mechanical Engineering, 2016,27(17):2407-2412.
[9] 李刚,李高超.驾驶员行为意图及特性辨识研究综述[J].河北科技大报,2017,38(4):335-340.LI Gang,LI Gaochao. An overview on identification study of driver behavior intention and characteristic[J]. Journal of Hebei University of Science and Technology,2017,38(4):335-340.
[10] BI Luzheng,TENG Teng,GUAN Cuntai.A novel method of emergency situation detection for a brain-controlled vehicle by combining EEG signals with surrounding information[J]. IEEE Transactions on Neural Systems and Rehabilitation Engineering,2018,26(10):1926-1934.
[11] HERNáNDEZ L G, MOZOS O M, FERRáNDEZ J M, et al. EEG-based detection of braking intention under different car driving conditions[J]. Frontiers in Neuroinformatics,2018,12: 10.3389/fninf.2018.00029.
[12] HE Lei,ZONG Changfu,WANG Chang. Driving intention recognition and behaviour prediction based on a double-layer hidden Markov model[J]. Journal of Zhejiang University-Science C-Computers & Electronics,2012,13(3):208-217.
[13] GIRBéS V, ARMESTO L, DOLS J, et al. An active safety system for low-speed bus braking assistance[J]. IEEE Transactions on Intelligent Transportation System,2016,18(2):377-387.
[14] HER H, JOA E, YI K. Integrated chassis control for optimized tyre force coordination to enhance the limit handling performance[J]. Proceedings of the Institution of Mechanical Engineers Part D-Journal of Automotive Engineering, 2015,230(8):1011-1026.
[15] XU Hui, SONG Chuanxue,LI Shoutao. Fuzzy logic control method of ehb system based on braking intention pattern identification[C]//Proceedings of the IEEE International Conference on Automation and Logistics, 2009: 10.1109/ICAL.2009.5262764.
[16] 秦大同,杨官龙,胡明辉,等.基于驾驶意图的插电式混合动力汽车能量管理策略[J].吉林大学学报(工学版),2015,45(6):1743-1750.QIN Datong, YANG Guanlong, HU Minghui, et al. Energy management strategy of plug-in hybrid electric system based on driving intention[J].Journal of Jilin University(Engineering and Technology Edition),2015,45(6):1743-1750.
[17] 吴志新,石金蓬,李亚伦,等.基于制动边界与意图识别的再生制动策略[J].北京航空航天大学报,2017,43(8):1531-1540. WU Zhixin,SHI Jinpeng,LI Yalun,et al. Regenerative brake strategy based on braking boundary and intention recognition[J]. Journal of Beijing University of Aeronautics and Astronautics, 2017,43(8):1531-1540.
[18] 韩云武,罗禹贡,李克强,等.混合动力汽车下坡辅助控制方法[J].机械工程学报,2016,52(6):136-144.HAN Yunwu,LUO Yugong,LI Keqiang,et al. Downhill assist control method for hybrid electric vehicle[J]. Journal of Mechanical Engineering,2016,52(6):136-144.
[19] 王庆年,王俊,陈慧勇,等.混合动力车辆中的加速与制动意图识别[J].吉林大学学报(工学版),2014,44(2):281-286.WANG Qingnian,WANG Jun,CHEN Huiyong,et al.Accelerating and braking intention identification in hybrid vehicle[J]. Journal of Jilin University(Engineering and Technology Edition),2014,44(2):281-286.
[20] 姬芬竹,杜发荣,朱文博.基于制动意图识别的电动汽车能量经济性[J].北京航空航天大学学报,2016,42(1):21-27.JI Fenzhu,DU Farong,ZHU Wenbo. Electric vehicle energy economy based on braking intention identification[J].Journal of Beijing University of Aeronautics and Astronautics,2016,42(1):21-27.
[21] 张元才,余卓平,徐乐,等.基于制动意图的电动汽车复合制动系统制动力分配策略研究[J].汽车工程,2009,31(3):244-249.ZHANG Yuancai,YU Zhuoping,XU Le,et al.A study on the strategy of braking force distribution for the hybrid braking system in electric vehicle based on braking intention[J].Automotive Engineering, 2009,31(3):244-249.
[22] 潘宁,于良耀,宋健.考虑舒适性的电动汽车制动意图分类与识别方法[J].清华大学学报(自然科学版),2016,56(10):1097-1103.PAN Ning,YU Liangyao,SONG Jian.Braking intention classification and identification considering braking comfort for electric vehicles[J]. Journal of Tsinghua University(Science and Technology), 2016,56(10):1097-1103.
[23] 王庆年,孙磊,唐先智,等.HEV制动意图识别的研究[J].汽车工程,2013,35(9):769-774.WANG Qingnian,SUN Lei,TANG Xianzhi,et al. A study on braking intention identification for HEV[J].Automotive Engineering, 2013,35(9):769-774.
[24] 唐先智,王波,杨树军,等.基于Hilbert-Huang变换的制动意图聚类识别[J].汽车工程,2016,38(5):580-586.TANG Xianzhi,WANG Bo,YANG Shujun,et al.Cluster identification of braking intention based on Hilbert-Huang transform [J].Automotive Engineering, 2016,38(5):580-586.
[25] 王英范,宁国宝,余卓平.乘用车驾驶员制动意图识别参数的选择[J].汽车工程,2011,33(3):213-216.WANG Yingfan,NING Guobao,YU Zhuoping. Parameter selection for the identification of driver's braking intention for passenger car[J]. Automotive Engineering, 2011,33(3):213-216.
[26] 王波,唐先智,王连东,等.基于EEMD和熵理论的电动汽车制动意图识别方法[J].汽车工程,2018,40(8):935-941.WANG Bo,TANG Xianzhi,WANG Liandong,et al. Braking intention identification method for electric vehicles based on EEMD and entropy theory [J].Automotive Engineering, 2018,40(8):935-941.
[27] 曲代丽. 基于模糊神经网络的驾驶员制动意图辨识技术研究[D].长春:长春工业大学,2016.QU Daili. Research on Identification Technology of Driver's Braking Intention Based on Fuzzy Neural Network[D]. Changchun: Changchun University of Technology, 2016.
[28] 刘剑开,张向文.电动汽车再生制动过程制动踏板位移与制动意图及制动强度之间的关系[J].科学技术与工程,2018,18(12):317-325.LIU Jiankai,ZHANG Xiangwen. Relationship among braking pedal displacement, braking intensity and braking strength in regenerative braking process of electric vehicle[J].Science Technology and Engineering, 2018,18(12):317-325.
[29] 周润景.模式识别与人工智能(基于MATLAB)[M].北京:清华大学出版社,2018:139.
[30] 赵伟强. 商用半挂车制动意图辨识与制动力分配控制策略开发及验证[D].沈阳:吉林大学,2013.ZHAO Weiqiang. Development and Test of Intention Recognition and Braking Force Distribution Control Strategies for Tractor-Semitrailer[D].Shenyang:Jilin University,2013.
[31] 赵轩,马建,汪贵平.基于制动驾驶意图辨识的纯电动客车复合制动控制策略[J].交通运输工程学报,2014,14(4):64-75.ZHAO Xuan,MA Jian,WANG Guiping. Composite braking control strategy of pure electric bus based on brake driving intention recognition[J]. Journal of Traffic and Transportation Engineering,2014,14(4):64-75.
[32] 张文波. 基于隐马尔可夫模型的EHB系统制动意图识别方法研究[D].长春:长春工业大学,2014.ZHANG Wenbo.Braking Intention Recognition for EHB System Based on Hidden Markov Model [D].Changchun: Changchun University of Technology, 2014.
[2] 何磊. 基于路面在线识别的线控制动系统制动力控制策略研究[D].长沙:湖南大学,2016.HE Lei. The Braking Force Control Strategy Based on Road Identification Technology for Brake-By-Wire System [D].Changsha: Hunan University,2016.
[3] 卜未琦. 全线控纯电动汽车行驶状态估算与路面识别[D].长春:吉林大学,2014.BU Weiqi. State Estimation and Road Identification for a Full Drive-By-Wire Electric Vehicle[D].Changchun: Jilin University, 2014.
[4] 袁朝春,张龙飞,陈龙.路面附着系数识别方法发展现状综述及展望[J].机械制造与自动化,2018,47(2):1-4.YUAN Chaochun,ZHANG Longfei,CHEN Long. Summary and prospect of development of road coefficient identification methods[J].Machine Building & Automation,2018,47(2):1-4.
[5] 彭晓燕,章兢,陈昌荣.基于RBF神经网络的最佳滑移率在线计算方法[J].机械工程学报,2011,47(14):108-113.PENG Xiaoyan,ZHANG Jing,CHEN Changrong. Calculation of RBF neural network based optimal slip ratio[J]. Journal of Mechanical Engineering, 2011,47(14):108-113.
[6] 周淑文,陈庆明,孙大明.基于EMB系统的整车ABS滑模变结构控制[J].东北大学学报(自然科学版),2016,37(7):994-997.ZHOU Shuwen,CHEN Qingming,SUN Daming. Variable structure control with sliding mode for ABS of vehicle based on EMB system[J].Journal of Northeastern University(Natural Science), 2016,37(7):994-997.
[7] 李顶根,张绿原,何保华.基于滑移率的汽车电子机械制动系统的模糊控制[J].机械工程学报,2012,48(20):124-129.LI Dinggen,ZHANG Lvyuan,HE Baohua. Fuzzy control based on vehicle slip-ratio for electro-mechanical braking systems[J]. Journal of Mechanical Engineering, 2012,48(20):124-129.
[8] 彭晓燕,吕以滨,何磊.基于滑移率的线控制动系统制动力分配策略研究[J].中国机械工程,2016,27(17):2407-2412.PENG Xiaoyan,LV Yibin,HE Lei.Research on brake-force distribution strategies for brake-by-wire system based on slip ratio[J].China Mechanical Engineering, 2016,27(17):2407-2412.
[9] 李刚,李高超.驾驶员行为意图及特性辨识研究综述[J].河北科技大报,2017,38(4):335-340.LI Gang,LI Gaochao. An overview on identification study of driver behavior intention and characteristic[J]. Journal of Hebei University of Science and Technology,2017,38(4):335-340.
[10] BI Luzheng,TENG Teng,GUAN Cuntai.A novel method of emergency situation detection for a brain-controlled vehicle by combining EEG signals with surrounding information[J]. IEEE Transactions on Neural Systems and Rehabilitation Engineering,2018,26(10):1926-1934.
[11] HERNáNDEZ L G, MOZOS O M, FERRáNDEZ J M, et al. EEG-based detection of braking intention under different car driving conditions[J]. Frontiers in Neuroinformatics,2018,12: 10.3389/fninf.2018.00029.
[12] HE Lei,ZONG Changfu,WANG Chang. Driving intention recognition and behaviour prediction based on a double-layer hidden Markov model[J]. Journal of Zhejiang University-Science C-Computers & Electronics,2012,13(3):208-217.
[13] GIRBéS V, ARMESTO L, DOLS J, et al. An active safety system for low-speed bus braking assistance[J]. IEEE Transactions on Intelligent Transportation System,2016,18(2):377-387.
[14] HER H, JOA E, YI K. Integrated chassis control for optimized tyre force coordination to enhance the limit handling performance[J]. Proceedings of the Institution of Mechanical Engineers Part D-Journal of Automotive Engineering, 2015,230(8):1011-1026.
[15] XU Hui, SONG Chuanxue,LI Shoutao. Fuzzy logic control method of ehb system based on braking intention pattern identification[C]//Proceedings of the IEEE International Conference on Automation and Logistics, 2009: 10.1109/ICAL.2009.5262764.
[16] 秦大同,杨官龙,胡明辉,等.基于驾驶意图的插电式混合动力汽车能量管理策略[J].吉林大学学报(工学版),2015,45(6):1743-1750.QIN Datong, YANG Guanlong, HU Minghui, et al. Energy management strategy of plug-in hybrid electric system based on driving intention[J].Journal of Jilin University(Engineering and Technology Edition),2015,45(6):1743-1750.
[17] 吴志新,石金蓬,李亚伦,等.基于制动边界与意图识别的再生制动策略[J].北京航空航天大学报,2017,43(8):1531-1540. WU Zhixin,SHI Jinpeng,LI Yalun,et al. Regenerative brake strategy based on braking boundary and intention recognition[J]. Journal of Beijing University of Aeronautics and Astronautics, 2017,43(8):1531-1540.
[18] 韩云武,罗禹贡,李克强,等.混合动力汽车下坡辅助控制方法[J].机械工程学报,2016,52(6):136-144.HAN Yunwu,LUO Yugong,LI Keqiang,et al. Downhill assist control method for hybrid electric vehicle[J]. Journal of Mechanical Engineering,2016,52(6):136-144.
[19] 王庆年,王俊,陈慧勇,等.混合动力车辆中的加速与制动意图识别[J].吉林大学学报(工学版),2014,44(2):281-286.WANG Qingnian,WANG Jun,CHEN Huiyong,et al.Accelerating and braking intention identification in hybrid vehicle[J]. Journal of Jilin University(Engineering and Technology Edition),2014,44(2):281-286.
[20] 姬芬竹,杜发荣,朱文博.基于制动意图识别的电动汽车能量经济性[J].北京航空航天大学学报,2016,42(1):21-27.JI Fenzhu,DU Farong,ZHU Wenbo. Electric vehicle energy economy based on braking intention identification[J].Journal of Beijing University of Aeronautics and Astronautics,2016,42(1):21-27.
[21] 张元才,余卓平,徐乐,等.基于制动意图的电动汽车复合制动系统制动力分配策略研究[J].汽车工程,2009,31(3):244-249.ZHANG Yuancai,YU Zhuoping,XU Le,et al.A study on the strategy of braking force distribution for the hybrid braking system in electric vehicle based on braking intention[J].Automotive Engineering, 2009,31(3):244-249.
[22] 潘宁,于良耀,宋健.考虑舒适性的电动汽车制动意图分类与识别方法[J].清华大学学报(自然科学版),2016,56(10):1097-1103.PAN Ning,YU Liangyao,SONG Jian.Braking intention classification and identification considering braking comfort for electric vehicles[J]. Journal of Tsinghua University(Science and Technology), 2016,56(10):1097-1103.
[23] 王庆年,孙磊,唐先智,等.HEV制动意图识别的研究[J].汽车工程,2013,35(9):769-774.WANG Qingnian,SUN Lei,TANG Xianzhi,et al. A study on braking intention identification for HEV[J].Automotive Engineering, 2013,35(9):769-774.
[24] 唐先智,王波,杨树军,等.基于Hilbert-Huang变换的制动意图聚类识别[J].汽车工程,2016,38(5):580-586.TANG Xianzhi,WANG Bo,YANG Shujun,et al.Cluster identification of braking intention based on Hilbert-Huang transform [J].Automotive Engineering, 2016,38(5):580-586.
[25] 王英范,宁国宝,余卓平.乘用车驾驶员制动意图识别参数的选择[J].汽车工程,2011,33(3):213-216.WANG Yingfan,NING Guobao,YU Zhuoping. Parameter selection for the identification of driver's braking intention for passenger car[J]. Automotive Engineering, 2011,33(3):213-216.
[26] 王波,唐先智,王连东,等.基于EEMD和熵理论的电动汽车制动意图识别方法[J].汽车工程,2018,40(8):935-941.WANG Bo,TANG Xianzhi,WANG Liandong,et al. Braking intention identification method for electric vehicles based on EEMD and entropy theory [J].Automotive Engineering, 2018,40(8):935-941.
[27] 曲代丽. 基于模糊神经网络的驾驶员制动意图辨识技术研究[D].长春:长春工业大学,2016.QU Daili. Research on Identification Technology of Driver's Braking Intention Based on Fuzzy Neural Network[D]. Changchun: Changchun University of Technology, 2016.
[28] 刘剑开,张向文.电动汽车再生制动过程制动踏板位移与制动意图及制动强度之间的关系[J].科学技术与工程,2018,18(12):317-325.LIU Jiankai,ZHANG Xiangwen. Relationship among braking pedal displacement, braking intensity and braking strength in regenerative braking process of electric vehicle[J].Science Technology and Engineering, 2018,18(12):317-325.
[29] 周润景.模式识别与人工智能(基于MATLAB)[M].北京:清华大学出版社,2018:139.
[30] 赵伟强. 商用半挂车制动意图辨识与制动力分配控制策略开发及验证[D].沈阳:吉林大学,2013.ZHAO Weiqiang. Development and Test of Intention Recognition and Braking Force Distribution Control Strategies for Tractor-Semitrailer[D].Shenyang:Jilin University,2013.
[31] 赵轩,马建,汪贵平.基于制动驾驶意图辨识的纯电动客车复合制动控制策略[J].交通运输工程学报,2014,14(4):64-75.ZHAO Xuan,MA Jian,WANG Guiping. Composite braking control strategy of pure electric bus based on brake driving intention recognition[J]. Journal of Traffic and Transportation Engineering,2014,14(4):64-75.
[32] 张文波. 基于隐马尔可夫模型的EHB系统制动意图识别方法研究[D].长春:长春工业大学,2014.ZHANG Wenbo.Braking Intention Recognition for EHB System Based on Hidden Markov Model [D].Changchun: Changchun University of Technology, 2014.