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A master-slave game-based human-machine cooperative steering control method in ice and snow environment

A man-machine collaboration, steering control technology, applied in instrumentation, geometric CAD, design optimization/simulation, etc., can solve problems such as control conflicts, and achieve the effects of improving stability, reducing computational burden, and expanding stability range

Active Publication Date: 2022-07-05
JILIN UNIV
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  • Claims
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AI Technical Summary

Problems solved by technology

[0004] In order to solve the problem of control conflict between the driver and the cooperative steering controller under the condition of target inconsistency in the ice and snow environment, the present invention proposes a master-slave game-type human-machine cooperative steering control method that can realize the priority of the driver's control target in the ice and snow environment

Method used

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  • A master-slave game-based human-machine cooperative steering control method in ice and snow environment
  • A master-slave game-based human-machine cooperative steering control method in ice and snow environment
  • A master-slave game-based human-machine cooperative steering control method in ice and snow environment

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Embodiment Construction

[0107] The present invention is described in detail below in conjunction with the accompanying drawings:

[0108] The present invention proposes a master-slave game-type man-machine cooperative steering control method in an ice and snow environment. figure 1 , figure 2 shown.

[0109] The specific implementation steps of this method are as follows:

[0110] Step 1. Establish the steering system model of the co-driving vehicle in the ice and snow environment:

[0111] Establish a geodetic coordinate system: the origin O is fixed on the ground, the positive direction of the X-axis is the initial motion direction of the vehicle, and the positive direction of the Y-axis is the 90-degree counterclockwise direction of the X-axis;

[0112] Establish the vehicle coordinate system: take the center of mass o of the vehicle as the coordinate origin, the positive direction of the x-axis is the forward direction of the vehicle, and the positive direction of the y-axis is the 90-degree ...

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Abstract

The invention proposes a master-slave game-type human-machine cooperative steering control method in an ice and snow environment, so as to solve the problem of control conflict between the driver and the cooperative steering controller under the condition of inconsistent goals in the ice and snow environment. The machine fusion control scheme firstly linearizes the tire cornering force and establishes the steering system model of the co-driving vehicle in the ice and snow environment; then, considering the inconsistency of human-machine control objectives, the control conflict is reduced by constructing a master-slave game relationship , to realize the man-machine cooperative steering control that prioritizes the driver's control target; this method can realize the man-machine that prioritizes the driver's control target when a control conflict occurs when the driver and the cooperative steering controller are inconsistent in the ice and snow environment. Coordinated steering control; makes full use of the tire cornering force, expands the stability range of the car when turning, and improves the stability of the car when turning in the snow and ice environment.

Description

technical field [0001] The invention belongs to the technical field of intelligent driving control, and relates to a human-vehicle cooperative steering control method, more specifically, to a master-slave game-type human-machine cooperative steering control method in an ice and snow environment. Background technique [0002] When the car is driving in the ice and snow environment, due to the reduction of the road adhesion coefficient, the ordinary driver is prone to lateral instability when performing steering operations such as overtaking, lane change, emergency obstacle avoidance, etc. The tire force is the main factor affecting the vehicle operation stability. Most of the existing research is based on the safety constraint of the tire slip angle, and the lateral force of the tire is not fully utilized. [0003] As a hot topic in the field of intelligent vehicles, human-machine collaborative control can give full play to the advantages of intelligent system in fine percept...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06F30/20G06F30/15G06F119/14
CPCG06F30/20G06F30/15G06F2119/14
Inventor 郭洪艳时婉晴刘俊胡云峰
Owner JILIN UNIV
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