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Human-vehicle cooperative steering control method considering real-time allocation of driving rights

A steering control, driver's technology, applied in the direction of control devices, etc.

Active Publication Date: 2018-03-16
JILIN UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In order to solve the problem of allocation of driving rights between the driver and the vehicle automatic driving controller in the process of human-vehicle cooperative driving, the present invention proposes a method for online real-time distribution of driving rights between the driver and the vehicle automatic driving controller

Method used

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  • Human-vehicle cooperative steering control method considering real-time allocation of driving rights
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  • Human-vehicle cooperative steering control method considering real-time allocation of driving rights

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Embodiment Construction

[0090] The present invention is described in detail below in conjunction with accompanying drawing:

[0091] The present invention proposes a method for distributing driving rights between the driver and the vehicle automatic driving controller in real time online, such as figure 1 As shown, the specific implementation steps are as follows:

[0092] Step 1. Establish vehicle dynamics model and vehicle kinematics model:

[0093] Establish a geodetic coordinate system: the origin O is fixed on the ground, the X-axis usually coincides with the initial movement direction of the vehicle, and X rotates 90 degrees counterclockwise to be the positive direction of the Y-axis;

[0094] Establish a vehicle coordinate system: take the center of mass o of the vehicle in the vehicle dynamics model as the coordinate origin, the forward direction of the vehicle is the positive direction of the x-axis, and the x-axis rotates 90 degrees counterclockwise to establish a coordinate system as the ...

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Abstract

The invention discloses a human-vehicle cooperative steering control method considering real-time allocation of driving rights. The method solves the problem of driving right allocation between drivers and vehicle automatic driving controllers in a human-vehicle cooperative driving process. The method comprises the specific steps of 1, establishing a vehicle dynamics model and a vehicle kinematicsmodel; 2, establishing a vehicle automatic driving controller; 3, establishing a human-vehicle co-driving system model; 4, adopting a model prediction method for designing a human-vehicle co-drivingsystem controller; 5, allocating the driving rights, calculating a control amount, executing the control amount, and achieving the process of controlling a vehicle to steer through the cooperation ofa driver and the vehicle automatic driving controller. By means of the method, under the condition that the vehicle automatic driving controller and the driver drive the vehicle together, the allocation of the steering driving rights of the vehicle automatic driving controller and the driver can be optimized in real time online, and the operation of steering the vehicle is cooperatively completedby the vehicle automatic driving controller and the driver.

Description

technical field [0001] The invention belongs to the field of automobile driving control, and relates to a human-vehicle cooperative driving strategy, and more specifically, relates to a human-vehicle cooperative steering control method considering the real-time allocation of driving rights. Background technique [0002] The increasingly dense road traffic continues to increase the driver's workload. Long-term high-load driving continues to occupy the driver's cognitive and physiological resources, which in turn leads to mental fatigue and a decline in driving ability, which is likely to lead to serious traffic accidents. Intelligent driving is an important means to reduce the driver's workload and improve vehicle safety. One of the development directions is unmanned driving. However, since the driver is completely out of the control loop in unmanned driving, it is easy to cause human factors problems such as "over-dependence" and "decreased situational awareness". The full ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W30/00B60W50/00
CPCB60W30/00B60W50/00B60W2050/0028B60W2050/0031
Inventor 刘俊郭洪艳申忱胡云峰宋林桓陈虹
Owner JILIN UNIV
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