A Man-Machine Sharing Steering Control Method for Smart Cars

Abstract

The invention relates to a man-machine shared steering control method for a smart car, which aims at improving the path tracking performance and driver's comfort of the smart car in a time-delay communication environment, and belongs to the field of driving assistance systems for smart cars. The steps of the method are as follows: establish a human-vehicle-road system model; determine the system control target; solve the gain of the shared steering controller, and calculate the required active steering angle to perform online control of the smart car. The invention can effectively improve the tracking accuracy of the vehicle path and improve the driving comfort of the driver. In particular, the present invention considers the time delay phenomenon in the control loop in the human-machine shared steering control of the smart car, which includes three types of network-induced delay, signal transmission delay, and actuator delay, so as to ensure the path tracking of the car It has strong robustness at the same time of performance, and is more superior in the delay environment.

Description

technical field [0001] The invention belongs to the field of driving assistance systems for smart cars, and in particular relates to a man-machine sharing steering control method for smart cars. Background technique [0002] With the increasing number of cars, the road traffic environment has become more and more complex, which puts forward an urgent need to improve the driving safety and driving comfort of vehicles. Smart cars, equipped with sensing components, computing units and advanced control execution devices, can assist the driver in controlling the vehicle in three aspects: perception, decision-making and execution. Effective measures for accidents. As one of the core technologies of smart cars, human-machine shared steering control means that both the driver and the automation system have online control over the steering function of the vehicle, and it is a key technology to ensure that the vehicle follows the expected path. In the human-machine shared steering c...

AI Technical Summary

Problems solved by technology

On the one hand, vehicle-mounted network communication has the advantages of realizing information resource sharing, improving diagnostic capabilities, reducing costs, and being easy to expand and maintain, which greatly promotes the development of vehicle intelligence, automation, and standardization; on the other hand, the bandwidth of vehicle-mounted networks is limited , this fact inevitably creates constraints such as network-induced delay, data packet loss, communication congestion, etc., which poses severe challenges to current control design

At present, the invention patent with the patent number CN107323457 B proposes a human-machine collaborative shared steering control method based on the constraint model prediction theory. However, this method does not consider the network-induced delay factor in the system, which will weaken the designed control. The performance of the device even leads to the instability of the system

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