Comfort-based self-driving planning method

A comfort-based self-driving planning method, the method comprising the following steps:

• a) establishing a prediction model between vibration type pavement condition and driving comfort, based on type of vehicles, including:
• a1) mounting three-axis acceleration sensors to particular positions of a vehicle with selected model;
• a2) driving the vehicle at different speeds on testing roads, respectively, to acquire data of vibration of three-axis acceleration via the three-axis acceleration sensors;
• a3) calculating integrated weighted root-mean-square acceleration RMSA as a comfort indicator for each testing road based on the data of vibration of three-axis acceleration;
• and
• a4) establishing a multivariate linear regression based on the comfort indicator, a driving speed and an international roughness index IRI value, wherein the comfort indicator is used as a dependent variable, and the driving speed and the international roughness index IRI value are used as independent variables;
• b) obtaining road conditions, including road IRI, road surface anti-sliding performance, and abnormal conditions;
• c) guiding the vehicle to travel based on the road conditions;
• d) determining a speed control strategy during an acceleration process, a deceleration process and a uniform process, to generate a comfort-based speed curve;
• and
• e) optimizing parameters of the comfort-based speed curve to ensure a comfort degree of a user;
• wherein the comfort-based speed curve in step d) is obtained by the following method:
• when the differences of road IRI between an ahead road section and a current position is less than 10%, and there is no abnormal condition, the comfort-based speed curve is of constant speed;
• and
• when the differences of the road IRI between the ahead road section and the current position is greater than or equal to 10%, no matter there is abnormal condition or not, or when the differences of road IRI between the ahead road section and the current position is less than 10%, and there is abnormal condition, the comfort-based speed curve is of hyperbolic tangent function, which includes two parameters, wherein speed difference value and stability coefficient, the speed difference value is the difference between a current speed and a speed corresponding to a target comfort degree.