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Human-vehicle coordinative steering rolling optimization control method based on driver in the loop

A control method and rolling optimization technology, applied in the direction of automatic steering control components, steering mechanisms, steering rods, etc., can solve the problem of easy misuse by drivers

Active Publication Date: 2018-08-28
JIANGSU XCMG CONSTR MASCH RES INST LTD
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  • Abstract
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AI Technical Summary

Problems solved by technology

[0004] In order to solve the problem that the driver is prone to misoperation under unknown and dangerous working conditions, the present invention proposes a cooperative steering and rolling optimization control method that can correct the driver's misoperation on-line

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  • Human-vehicle coordinative steering rolling optimization control method based on driver in the loop

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Embodiment Construction

[0097] The present invention is described in detail below in conjunction with accompanying drawing:

[0098] The present invention proposes a driver-in-the-loop cooperative steering roll optimization control method, such as figure 1 As shown, the specific implementation steps are as follows:

[0099] Step 1. Establish vehicle two-degree-of-freedom dynamics model and vehicle kinematics model:

[0100] 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 the direction of the X-axis rotating 90 degrees counterclockwise is the positive direction of the Y-axis to establish a geodetic coordinate system;

[0101] Establish a vehicle coordinate system: take the center of mass o of the vehicle in the vehicle dynamics model as the coordinate origin, the direction along which the vehicle advances is the positive direction of the x-axis, and the direction in which the x-axis rotat...

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Abstract

The invention provides a human-vehicle coordinative steering rolling optimization control method based on the driver in the loop. The method specifically includes the following steps of firstly, establishing a vehicle two-freedom-degree kinetic model and a vehicle kinetic model; secondly, determining an intervention degree coefficient through danger evaluating fuzzy logic; thirdly, establishing ahuman-vehicle coordinative steering system model; fourthly, designing a human-vehicle coordinative steering system controller through a model predicting method; fifthly, conducting driving authority distributing and calculating the control amount for completing control. By means of the method, a driver can be assisted in operations online in real time when the driver drives a vehicle and dangers probably happen, the operations of the driver cannot be intervened in when the driver normally operates the vehicle, the driver has vehicle steering absolute control authority when the vehicle is driven in a safety area, the controller absolutely does not intervene in the correct steering operations of the driver, and the controller decides the intervention degree in real time and assists the driver in completing the steering operations according to the operation behaviors of the driver and the position of the vehicle when the vehicle is driven out of the safety area.

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 presence of a driver. Background technique [0002] With the increase of the number of cars on the road, the road traffic environment will become more and more complex. Faced with such a complicated environment, human drivers often have temporary negligence. In this case, it is very easy to cause traffic accidents. How to protect the driver Driving a car safely is an urgent problem to be solved. Self-driving cars are an effective means of freeing human drivers from complex driving tasks. However, under the condition that unmanned driving technology and related laws and regulations are not yet perfect, developing advanced human-vehicle cooperative control technology is a very effective way to ensure the driving safety of driver...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W30/18B60W50/00B62D6/00
CPCB60W30/18145B60W50/00B62D6/002
Inventor 刘俊郭洪艳郭洋洋陈虹朱飞白
Owner JIANGSU XCMG CONSTR MASCH RES INST LTD
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