Driving permission transferring method in alternate human-machine joint driving

Abstract

The invention, which belongs to the field of intelligent transportation, relates to a driving permission transferring method in alternate human-machine joint driving. The method comprises: dimension reduction is carried out on multiple factors like a current driving environment, the state of a vehicle, and the state of a driver and a key factor affecting current driving is extracted; situation assessment is carried out on the extracted factor and whether driving permission needs to be transferred is determined; driving abilities of an automatic driving system and the driver are estimated synchronously to determine whether to carry out driving permission transferring. Therefore, the safety of the alternate human-machine cooperative driving is guaranteed; and the foundation is laid for improving the performance of the intelligent transportation system. While the driving burden of the driver is reduced, the safety of driving is improved and occurrence of accidents is reduced, so that theperformances of the intelligent transportation system are enhanced comprehensively.

Description

technical field [0001] The invention belongs to the field of intelligent transportation, and relates to a method for transferring driving rights in alternate man-machine co-driving. Background technique [0002] In the application of safety intervention in shared human-machine co-driving, construct a nonlinear tire model, analyze its stability safety envelope and collision safety envelope, and analyze the relationship between acceleration and steering wheel angle, but this system is only Intervene when the vehicle may be at risk of instability or collision; establish a system framework for indirect collaborative control, use the input fusion algorithm based on the linear weighting method, and explicitly express the control rights of man-machine as corresponding weight coefficients. In terms of transfer, the driver's control intention is identified, and the expected distribution of control rights is obtained. Then the result is smoothed and filtered, and the zero-order mainta...

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Problems solved by technology

[0002] In the application of safety intervention in shared human-machine co-driving, construct a nonlinear tire model, analyze its stability safety envelope and collision safety envelope, and analyze the relationship between acceleration and steering wheel angle, but this system is only Intervene when the vehicle may be at risk of instability or collision; establish a system framework for indirect collaborative control, use the input fusion algorithm based on the linear weighting method, and explicitly express the control rights of man-machine as corresponding weight coefficients. In terms of transfer, the driver's control intention is identified, and the expected distribution of control rights is obtained. Then the result is smoothed and filtered, and the zero-order maintainer is used for speed suppression. However, the identification system of this system may fluctuate, and the control rights Changes can be uncomfortable

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