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

  • US 9,321,458 B2
  • Filed: 12/17/2013
  • Issued: 04/26/2016
  • Est. Priority Date: 12/17/2013
  • Status: Active Grant
First Claim
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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)(τ

    t

    dt), 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.

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