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Method of driving right allocation in human-machine shared driving lane keeping system

A lane keeping and driving right technology, which is applied in the field of driving right distribution in the lane departure assist control system, can solve the problems of reducing vehicle safety, sudden change of driving right, and reducing ride comfort, so as to improve comfort and safety, Reduce the sudden change of driving rights and enhance the effect of driving experience

Active Publication Date: 2021-06-11
DALIAN UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

First of all, this method can only judge that the vehicle has deviated from the lane when the vehicle has a large lateral displacement or yaw angle. At this time, the auxiliary torque that makes the vehicle return to the lane line is large. If the auxiliary torque is added to the steering In the system, it is easy to cause the vehicle yaw rate to increase, thereby reducing the ride comfort. Secondly, using the two torque thresholds as parameters for switching driving modes is likely to cause a sudden change in driving rights, that is, a sudden change from the automatic driving mode to the manual driving mode. This situation can easily cause the driver to panic, thereby reducing the safety of the vehicle

Method used

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  • Method of driving right allocation in human-machine shared driving lane keeping system
  • Method of driving right allocation in human-machine shared driving lane keeping system
  • Method of driving right allocation in human-machine shared driving lane keeping system

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0049] A method of driving rights allocation in a human machine co-driving lane is included in the human machine includes the following steps:

[0050] 1. Calculate the time of the wheel to the road boundary to the road boundary, TLC

[0051] This paper uses the calculation method of longitudinal TLC:

[0052]

[0053] Where DLC serves the vehicle from the current location to the distance from the vehicle, Vx It is the longitudinal speed of the vehicle.

[0054] 1) When TLC ≤ T tw At this time, the lane maintain the auxiliary system should be initiated, and the vibration of the driver's vehicle is deviated from the trend of the driveway through the steering wheel. tw The threshold for the lane from the auxiliary system;

[0055] 2) When TLC> T tw At this time, it is considered to be safe to travel, and the lane deviation assist system should be closed.

[0056] 2. Control allocation

[0057] The weight coefficient of the traditional human machine co-control is a fixed value or w...

Embodiment 2

[0062] Example 2: A process for the method of driving rights in the human machine co-transportation system is: first identifying the vehicle road line and the vehicle state parameters by the vehicle environment perceived module. The TLC of the left and right wheels to the lane boundary is calculated by the vehicle state parameter, and a warning is issued to the driver when the TLC is less than a certain threshold. Then, the calculated TLC is used as one of the input parameters, the torque T actually input by the driver. d As another input parameter, the intensity of the discretion is determined by fuzzy control. However, in certain special circumstances, the fuzzy control cannot be accurately determined, so further adjustment is required to adapt to more complex situations.

[0063] 1. Calculation of TLC's time when the vehicle left and right wheels to the road boundary

[0064] my country's highway design standards requires minimum radius of curvature in the corner of the mountai...

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Abstract

The method of driving right distribution in the human-machine shared driving lane keeping system belongs to the vehicle control field of assisted driving, and is used to solve the problem of driving right distribution. S3. The calculated TLC is used as one of the input parameters, and the driver actually inputs The torque T d As another input parameter, determine the co-driving coefficient at this time through fuzzy control; S4. When the fuzzy control cannot accurately determine the co-driving coefficient, further adjust the co-driving coefficient, and the effect is to realize the continuous change reduction of the co-driving coefficient The possibility of sudden change in control power ensures the safety and comfort of the lane keeping system.

Description

Technical field [0001] The present invention belongs to the auxiliary driving vehicle control, which relates to a distribution method of driving rights based on human-machine-driven drive offset auxiliary control system. Background technique [0002] At the same time, the car will bring convenience, as the number of usage is increased, there have also been many new problems, such as traffic accidents, energy consumption, traffic congestion and air pollution caused by car exhaust, especially traffic accidents. Life and property cannot be recovered. Therefore, in order to improve driving safety, reduce the driver's driving burden, unhaly driving technology has been widely studied, and is gradually applied, however, because the laws and regulations currently related to unmanned technology is not perfect, in the unmanned driving Before the technology does not meet industrial applications, the development of advanced driving assistance systems (ADAS) is the main target of driving auto...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B60W30/12B60W50/00B60W50/14
Inventor 郭烈夏文旭孙大川郑仁成岳明王东兴
Owner DALIAN UNIV OF TECH
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