Sliding mode trajectory voting strategy module and driving control system and method thereof

摘要

The present invention provided a sliding mode trajectory voting strategy module. The sliding mode trajectory voting strategy module integrates a reaction time and a relative distance into an obstacle feature sliding surface by utilize sliding mode control theory, and calculates the obstacle feature sliding surface and a road curvature value in combination with fuzzy theory to obtain an orientation angle of a safety path.

主权项

1. A sliding mode trajectory voting strategy module comprising:
a fuzzification interface inputting a road curvature information and a road risk assessment information and performing a fuzzy analysis based on a plurality of predetermined membership functions; a fuzzy inference interface integrating the road curvature information and the road risk assessment information based on a sliding mode control theory and performing a simulation on the road curvature information and the road risk assessment information to obtain a route voting result; and a defuzzification interface defuzzifing the route voting result according to a fuzzy logic rule table to obtain an orientation angle of a safe path; wherein the sliding mode control theory is utilized to integrate a reaction time and a relative distance in the road curvature information and the road risk assessment information into an obstacle feature sliding surface, the obstacle feature sliding surface St=sign(Yt)(τt+λdt), wherein τ represents the reaction time, λ represents an obstacle feature constant, d represents the relative distance, Y represents a horizontal coordinate of a target obstacle, and the subscript i represents the target obstacle.