A Human-Machine Hybrid Intelligent Cooperative Follow-up Control Method for Keeping the Driver in the Loop
A technology for drivers and autonomous vehicles, applied in the field of driver-in-the-loop human-machine co-driving control, can solve the problems of high attention level, driver troubles, expensive sensors, etc., and achieve the effect of small operation load
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[0102] Such as Figure 1-2 A human-machine hybrid intelligent collaborative car following control method for keeping the driver in the loop is shown, comprising the following steps:
[0103] Step 1: Define the configuration, follow-up tasks and scenarios of the autonomous driving vehicle
[0104] The self-driving car is equipped with high-precision actuators and sensors. The front car and the main car are in the same lane, and the following self-driving car can obtain real-time acceleration information of the front car through wireless communication. p ; At the same time, the self-driving vehicle obtains the relative inter-vehicle distance △x and relative vehicle speed △v between the two vehicles through the sensor;
[0105] Step 2: Construct vehicle longitudinal dynamics model
[0106] Considering the influence of factors such as vehicle inertia, engine torque, air resistance and ground friction, construct the vehicle longitudinal speed v(t), acceleration a(t), and jerk acc...
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