Emergency obstacle avoidance automatic-driving assistance torque calculation method based on intention of driver

Abstract

The invention discloses an emergency obstacle avoidance automatic-driving assistance torque calculation method based on intention of a driver. The emergency obstacle avoidance automatic-driving assistance torque calculation method based on intention of the driver comprises the steps that first, the behavior of the driver is used as the input to identify the current intention of the driver, a Mobiey sensor is used for collecting information required for vehicle emergency obstacle avoidance path planning in real time, a chaotically optimized artificial potential field emergency obstacle avoidance automatic-driving assistance control method is used for solving optimal steering assistance guiding torque, people are assisted to drive a vehicle, and the driving state of the vehicle is changed; and then the input of the driver and vehicle state parameters after an emergency obstacle avoidance assistance system is involved are used as the input to identify the intention of the driver at the moment for the second time; and finally, based on the judgment result of the two-time intention of the driver, it is determined whether a steering assistance guidance torque complete involving method isadopted to complete the emergency obstacle avoidance working condition of the vehicle or not. The intention of different drivers can be effectively identified, amount of calculation is small, real-time control is achieved conveniently, the planned obstacle avoidance assistance steering torque is safer and more reliable than a traditional method, and the emergency obstacle avoidance working condition can be effectively completed.

Description

technical field [0001] The invention relates to the technical field of automobile intelligent interaction and the automatic control driving safety technology of a motor vehicle, and specifically relates to a calculation method for emergency obstacle avoidance automatic driving auxiliary torque based on the driver's intention. Background technique [0002] With the rapid development of vehicle intelligence, people's demand for intelligent assistance systems in automobiles is getting higher and higher. Since the conventional vehicle assistance system does not consider some special working conditions, that is, it can only drive in the current lane without the function of changing lanes, it cannot complete operations such as overtaking and obstacle avoidance. Therefore, the driver's driving intention can be accurately identified, and when the driver's emergency obstacle avoidance intention is recognized, the system will promptly activate the vehicle's emergency obstacle avoidanc...

AI Technical Summary

Problems solved by technology

It exists to identify the driver's intention only through vehicle information. Due to the uncertainty of the acquired data representation, instability, and the inconvenience of obtaining data, this method cannot accurately identify the driver's driving intention, and it is not practical. The problem

The Chinese patent with the application number 201710351414.2 discloses "a vehicle active collision avoidance method using artificial potential field method"; it discloses that the artificial potential field model can reasonably plan collision avoidance paths and avoid secondary collisions in the process of vehicles avoiding obstacles However, it only performs path planning for the vehicle, and does not recognize the driver's intention during the driving process, and cannot effectively eliminate the impact of man-machine conflict

Images