The invention discloses a vehicle control system and method considering motion sickness of passengers in a vehicle. The vehicle control system comprises a vehicle motion state sensing module, an in-vehicle passenger state sensing module, a vehicle state estimation module, a passenger motion sickness state estimation module, a constraint generation module, an optimization solving module and a vehicle motion control module. The motion sickness state of the passenger is calculated. According to the original data acquired by each vehicle-mounted sensor, a state estimation algorithm is used to estimate the vehicle motion state and the motion sickness state of passengers in the vehicle, and the overall system state is calculated by combining the vehicle position output by the upper layer sensing module. By means of the system state constraint and the system input constraint obtained by the planning generation module, optimal control is obtained by using an optimal control method, and the vehicle movement is controlled to achieve the purpose of relieving the movement of passengers in the vehicle. The system is low in cost and reliable in performance, can be used for designing an automatic driving control algorithm considering motion sickness of passengers in a vehicle, and improves driving safety, riding comfort and user experience.
本发明公开了一种考虑车内乘员晕动的车辆控制系统与方法,包括车辆运动状态感知模块、车内乘员状态感知模块、车辆状态估计模块、乘员晕动状态估计模块、约束生成模块、优化求解模块和车辆动作控制模块。计算乘员晕动状态。根据各车载传感器采集获得的原始数据,运用状态估计算法,估计车辆运动状态和车内乘员晕动状态,结合上层感知模块输出的车辆位置,计算整体系统状态。借助规划生成模块获得的系统状态约束和系统输入约束,利用优化控制方法获得最优控制,控制车辆运动达到缓解车内乘员运动的目标。系统成本低、性能可靠,可用于考虑车内乘员晕动的自动驾驶控制算法设计,提高行驶安全性、乘坐舒适度和用户体验。
Vehicle control system and method considering motion sickness of passengers in vehicle
一种考虑车内乘员晕动的车辆控制系统与方法
2021-07-13
Patent
Electronic Resource
Chinese
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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