Driver steering control method based on brain emotional learning loop model

Abstract

The invention specifically relates to a driver steering control method based on a brain emotional learning loop model. The driver steering control method is characterized in that the driver steering control method adopts the following steps that firstly, driver steering preview models at a far point and a near point are used for collecting a sensory signal SI and an emotional signal EC; then the brain emotional learning loop model is established based on neurophysiology, the sensory signal SI and the emotional signal EC which are obtained through the driver steering models are inputted into the brain emotional learning loop model to obtain a steering wheel angle, and correction is conducted continuously to realize accurate tracking of a road track; and finally, a linear two-degree-of-freedom vehicle dynamic model is established to input the corrected steering wheel angle to the vehicle model for steering control. According to the driver steering control method based on the brain emotional learning loop model, cognitive behaviors of a driver in reality can be simulated, so that the model has good consistency with the cognitive behaviors of human beings, and better accurate tracking for the vehicle can be realized accordingly, and the vehicle is safer.

Description

technical field [0001] The invention belongs to the field of simulated driving of intelligent vehicles, and in particular relates to a driver's steering control method based on a brain emotion learning circuit model. Background technique [0002] The early driver model was proposed by McRuer in the 1970s. After that, with the development and maturity of control theory, the car driver model has developed rapidly. People have successively proposed the single-point optimal preview driver model , LQR-based multi-point preview driver model, driver model based on model predictive control, etc. Although these driver models can track road trajectories, they are all driver models based on the optimal solution in the mathematical sense, and cannot simulate the driver's cognitive behavior in reality. The evaluation is not objective enough. [0003] At the end of the 20th century, biologist Neese and others discovered that emotion plays a positive and positive role in human cognitive ...

AI Technical Summary

Problems solved by technology

Although these driver models can track road trajectories, they are all driver models based on the optimal solution in the mathematical sense, and cannot simulate the driver's cognitive behavior in reality. Evaluation is not objective enough

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