Driver steering control method based on brain emotional learning loop model

A technology for steering control and driver, applied to automatic steering control components, steering mechanisms, steering rods, etc., can solve the problems of not being able to simulate driver's cognitive behavior, and the evaluation of vehicle safety performance is not objective enough, to achieve good consistency, Increase the safety performance and the effect of precise tracking

Inactive Publication Date: 2017-12-19
JIANGSU OPEN UNIV
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Problems solved by technology

Although these driver models can track road trajectories, they are all driver models based on the optimal solution in the mathematical sense, and cannot simulate the driver's cognitive behavior in reality. Evaluation is not objective enough

Method used

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  • Driver steering control method based on brain emotional learning loop model
  • Driver steering control method based on brain emotional learning loop model
  • Driver steering control method based on brain emotional learning loop model

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Embodiment Construction

[0045] The purpose of the present invention is to realize the simulation of the driver's driving in order to ensure the driving safety during the driving process of the smart car, so as to accurately grasp the driving track of the vehicle. In order to realize the purpose, the structural frame of the method adopted by the present invention is as Figure 4 shown. Among them: SI and EC are output for the above step 1 through near-point preview and far-point preview; SI and EC signals are input into the BEL model to generate steering wheel angle δ sw , turning the steering wheel angle δ sw Input the vehicle model to output the state parameters of the vehicle, and repeat the above steps to accurately grasp the vehicle's driving trajectory.

[0046] Embodiment is a kind of driver's steering control method based on brain emotion learning loop model, and its specific control process includes:

[0047]S1: Parameter initialization: respectively set the proportional adjustment factors...

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Abstract

The invention specifically relates to a driver steering control method based on a brain emotional learning loop model. The driver steering control method is characterized in that the driver steering control method adopts the following steps that firstly, driver steering preview models at a far point and a near point are used for collecting a sensory signal SI and an emotional signal EC; then the brain emotional learning loop model is established based on neurophysiology, the sensory signal SI and the emotional signal EC which are obtained through the driver steering models are inputted into the brain emotional learning loop model to obtain a steering wheel angle, and correction is conducted continuously to realize accurate tracking of a road track; and finally, a linear two-degree-of-freedom vehicle dynamic model is established to input the corrected steering wheel angle to the vehicle model for steering control. According to the driver steering control method based on the brain emotional learning loop model, cognitive behaviors of a driver in reality can be simulated, so that the model has good consistency with the cognitive behaviors of human beings, and better accurate tracking for the vehicle can be realized accordingly, and the vehicle is safer.

Description

technical field [0001] The invention belongs to the field of simulated driving of intelligent vehicles, and in particular relates to a driver's steering control method based on a brain emotion learning circuit model. Background technique [0002] The early driver model was proposed by McRuer in the 1970s. After that, with the development and maturity of control theory, the car driver model has developed rapidly. People have successively proposed the single-point optimal preview driver model , LQR-based multi-point preview driver model, driver model based on model predictive control, etc. Although these driver models can track road trajectories, they are all driver models based on the optimal solution in the mathematical sense, and cannot simulate the driver's cognitive behavior in reality. The evaluation is not objective enough. [0003] At the end of the 20th century, biologist Neese and others discovered that emotion plays a positive and positive role in human cognitive ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D6/00B62D15/02G06F3/01
CPCB62D6/00B62D15/025G06F3/015
Inventor 顾筠林小宁周海峰黄黎程慧
Owner JIANGSU OPEN UNIV
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