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Man-machine jointly-driving transverse driving privilege distributing method considering drivers' driving skills

A technique of driving skills, distribution method

Active Publication Date: 2018-11-16
CHONGQING UNIV
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Problems solved by technology

In the research of some other scholars, too much consideration is given to the driving state of the vehicle for the online allocation of driving rights, but the difference in driving skills of the driver is not considered, resulting in a large proportion of human-machine conflicts and poor driving comfort. Low

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  • Man-machine jointly-driving transverse driving privilege distributing method considering drivers' driving skills
  • Man-machine jointly-driving transverse driving privilege distributing method considering drivers' driving skills
  • Man-machine jointly-driving transverse driving privilege distributing method considering drivers' driving skills

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Embodiment Construction

[0052]Embodiments of the present invention are described below through specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific implementation modes, and various modifications or changes can be made to the details in this specification based on different viewpoints and applications without departing from the spirit of the present invention.

[0053] see Figure 1-4 , a method for allocating lateral driving rights in human-machine co-driving considering the driver's driving skills, the method comprising the following steps:

[0054] 1) Establish a dynamic model of the vehicle;

[0055] Assuming that the speed of the car is constant, considering the lateral motion and yaw motion of the car, the dynamic model of the car can be simplified as figure 2 For the linear two-degre...

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Abstract

The invention relates to the technical field of driving assisting or automatic driving, in particular to a man-machine jointly-driving transverse driving privilege distributing method considering drivers' driving skills. The method includes the following steps of 1) establishing a vehicle dynamical model; 2) establishing a lane keeping controller model; 3) establishing a man-machine jointly-driving model; 4) establishing a driver driving-skill evaluation model; 5) establishing a man-machine jointly-driving weight distributing model; 6) conducting man-machine sharing controlling. According to the man-machine jointly-driving transverse driving privilege distributing method considering the drivers' driving skills, by establishing the driver driving-skill evaluation model, the drivers' drivingskills are evaluated, and therefore a basis is provided for distribution of the driving privileges; in this way, comfort of driving can be improved, safety driving of vehicles can also be guaranteed,and man-machine conflict can also be reduced; meanwhile, a difference value between an expected rotation angle of drivers and an expected rotation angle of a lane departure controller is considered and serves as one of factors of weight distribution, and the drivers can feel that vehicles are driven according to driving intentions of the drivers.

Description

technical field [0001] The invention relates to the technical field of driving assistance or automatic driving, in particular to a method for allocating driving rights and lateral control of vehicles in the process of man-machine co-driving. Background technique [0002] With the continuous development of the economy, the number of cars is constantly increasing, and the road traffic environment is becoming more and more complex, resulting in an increasing driving load for drivers. Drivers are prone to fatigue and distraction during driving, causing serious road accidents. traffic safety accident. The advanced driver assistance system (ADAS) of the car can effectively alleviate the frequent occurrence of traffic accidents, reduce the driving load of the driver, and improve the comfort of the drivers and passengers. The ADAS system is also regarded as a prerequisite for the realization of fully automatic driving. Before the fully automatic driving is not yet mature, the human...

Claims

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Application Information

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IPC IPC(8): B60W50/00
CPCB60W50/0098B60W2050/0029B60W2540/18
Inventor 赵敏孙棣华程森林鲁昆
Owner CHONGQING UNIV
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