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Time-domain-to-weight driver-automatic driving system flexible take-over method

An automatic driving and driver technology, applied in general control systems, control/regulation systems, adaptive control, etc., can solve problems such as vehicle instability, difficult to take over instantaneous smooth transition, sudden changes in vehicle status, etc.

Active Publication Date: 2018-11-13
JILIN UNIV
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Problems solved by technology

However, this takeover method is difficult to ensure a smooth transition at the moment of takeover, and may even cause a sudden change in the vehicle state during the takeover process, resulting in vehicle instability

Method used

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  • Time-domain-to-weight driver-automatic driving system flexible take-over method
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  • Time-domain-to-weight driver-automatic driving system flexible take-over method

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Embodiment Construction

[0083] The present invention is described in detail below in conjunction with accompanying drawing:

[0084] The present invention is a driver-automatic driving system flexible takeover method with variable weight in time domain, the method flow chart is as follows figure 1 As shown, the specific implementation steps are as follows:

[0085] Step 1. Design MPC (Model Predictive Control) automatic driving controller

[0086] (1) Establishment of automatic driving controller design model

[0087] vehicle model such as figure 2 As shown, according to the relationship between dynamics and kinematics, the following expression can be obtained:

[0088]

[0089] Among them, β is the sideslip angle of the center of mass, unit, rad; v is the longitudinal velocity at the center of mass of the vehicle, unit, m / s; ψ is the yaw angle of the vehicle, unit: rad; r is the yaw angular velocity of the vehicle, unit, rad / s; C f is the cornering stiffness of the front tires of the vehicl...

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Abstract

The invention discloses a time-domain-to-weight driver-automatic driving system flexible take-over method. The flexible take-over method of the automatic driving system judges the degree of hazard through a fuzzy evaluation index, and then gradually shifts the intention of a driver to the intention of an automatic driving controller through change of the weight in the time domain, so as to realizesmooth take-over from the automatic driving controller to the driver. The flexible take-over method of the automatic driving system includes the following steps: 1) designing an MPC (Model PredictiveControl) automatic driving controller; 2) based on the fuzzy law, evaluating the degree of hazard of a vehicle: using a fuzzy method to establish a fuzzy law of a vehicle hazard index Gamma, a driving environment hazard index and a driver operation hazard index, and obtaining a three dimensional map for the vehicle hazard index Gamma for Eroad and Edriver; determining the driving environment hazard index and the driver operation hazard index in real time, and using the three dimensional map to obtain a vehicle hazard index; and 3) implementing flexible take-over of the driver-automatic driving system.

Description

technical field [0001] The invention relates to a time-domain variable weight driver-automatic driving system flexible takeover method, which is a method that considers the smoothness of the driver-automatic driving controller takeover process, and belongs to the field of unmanned vehicles. Background technique [0002] Due to the limitation of the driver's operation, in some dangerous situations, the driver has no ability to keep the vehicle running safely. At this time, the automatic driving controller needs to take over. The traditional takeover method is often "switch mode" to take over, that is, when the vehicle is judged to be potentially dangerous to drive, the automatic driving controller immediately takes over and obtains the driving right. However, this takeover method is difficult to ensure a smooth transition at the moment of takeover, and may even cause a sudden change in the vehicle state during the takeover process, resulting in vehicle instability. It can be...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 郭洪艳郭洋洋薄悦刘俊陈虹王萍宋林桓
Owner JILIN UNIV
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