Man-machine common driving type of lane maintenance assistance method for smart car

Abstract

The invention relates to a man-machine common driving type of lane maintenance assistance method for a smart car, belonging to the technical field of driving assistance of a smart car. The lane maintenance assistance method is applicable to a smart car platform with steering-by-wire or active steering device, and integrates the steering wheel angle input of the driver and the desired steering input of the controller in the form of linear weighting, thereby realizing lane maintenance auxiliary function of a man-machine driving mode. In the lane maintenance assistance method, the desired steering input of the controller is calculated by a tracking control algorithm for a reference trajectory. Considering the time-varying characteristics of the desired trajectory of the driver in the dynamictraffic environment, the system in the lane maintenance assistance method reference trajectory can be adjusted in real time according to the steering wheel operation of the driver under the conditionof satisfying safety constraints, thereby effectively improving the comfort and safety of the lane maintenance assistant system.

Description

technical field [0001] The invention relates to a human-machine co-driving lane keeping assistance method for a smart car, which belongs to the technical field of driving assistance systems for smart cars. Background technique [0002] As the number of cars in China increases year by year, the increasingly dense road traffic continues to increase the driver's operational and cognitive load. Long-term high-load driving continues to occupy the driver's cognitive and physiological resources, which in turn leads to mental fatigue and reduced driving ability, which is likely to lead to serious traffic accidents. Statistics show that among all kinds of traffic safety accidents, accidents caused by human factors account for as high as 90%, of which 70%-80% are caused by driver's negligence. Smart cars refer to a new generation of cars equipped with advanced sensing components, computing units, and control execution devices. The dual purpose of employee workload and improving driv...

AI Technical Summary

Problems solved by technology

Research shows that the inconsistency of human-machine target trajectories in the process of human-machine shared driving lane keeping assistance is the main cause of driver discomfort

Another study shows that the driver's expected reference trajectory has an inner deviation when cornering at high speed; at the same time, when there are dynamic / static obstacles on both sides of the road, the driver's expected trajectory will also temporarily deviate from the center of the lane

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