Allocation method of dynamic human-machine co-driving driving rights based on real-time risk response of drivers
An allocation method and driver technology, applied in the field of automotive assisted driving technology and automatic driving, can solve problems such as the inability to dynamically correct the driver's driving ability, reduce decision-making conflicts, and ensure the effect of anthropomorphism
Active Publication Date: 2020-12-25
TSINGHUA UNIV
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Problems solved by technology
This invention only considers the driving skill as a factor, and requires the driver to test the driving ability or drive the vehicle for a long time to indirectly measure the driver's driving ability, in order to carry out effective driving right allocation, ignoring the driver's fatigue or other physiological factors. Changes in driving ability caused by factors that cannot dynamically correct the driver's driving ability
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[0049] The present invention will be described in detail below in conjunction with the accompanying drawings and embodiments.
[0050] Such as figure 1 As shown, in the embodiment of the present invention based on the real-time risk response of the driver, the dynamic man-machine co-driving driving rights allocation method, its system configuration includes the vehicle 10 and the environment perception module 110 installed on the vehicle 10, the vehicle perception module 120, Risk quantification module 130 , driving right allocation module 140 , assisted driving module 150 and vehicle control module 160 .
[0051] The vehicle 10 is an automatic or semi-autonomous vehicle, and the vehicle 10 may have all the features and functions of a non-autonomous vehicle, such as a steering system, a braking system, a navigation system, etc. required to complete a driving task.
[0052] The environment perception module 110 is used to allow the vehicle 10 to understand the static and dynamic...
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The invention discloses a dynamic man-machine co-driving right distribution method based on driver real-time risk response. The method comprises the steps: S210, acquiring environment information andself-vehicle information; s220, according to the environment information and the self-vehicle information, obtaining the comprehensive risk effect intensity of surrounding vehicles on the self-vehicle; s230, judging the driving state of the driver in real time according to the action intensity of the comprehensive risk and the control quantity of the vehicle, and calculating a driving weight distribution factor; s240, calculating the control quantity of the auxiliary driving system according to the environment information and the vehicle information; and S250, calculating an actual control quantity according to the control quantity and the driving weight distribution factor, outputting the actual control quantity, and controlling the vehicle to move. According to the invention, the response degree of the driver to the environmental risk can be evaluated comprehensively in real time, the real-time driving skill of the driver is judged, and man-machine co-driving of flexible switching ofdriving rights is achieved.
Description
technical field [0001] The present invention relates to the technical fields of automobile assisted driving and automatic driving, and in particular relates to a dynamic man-machine co-driving driving right allocation method based on the driver's real-time risk response. Background technique [0002] Autonomous driving technology has developed rapidly in recent years, but there are still technical bottlenecks in pure driverless driving on open roads. In this context, the continuous improvement of the assisted driving system and its update and iteration with the goal of unmanned driving have become an important way for the gradual development of autonomous driving technology. When driving a vehicle equipped with an assisted driving system, the human driver and the assisted driving system form a driving mode of man-machine co-driving. [0003] Human-machine co-driving is further subdivided into: switching-type co-driving and sharing-type co-driving. At any time during the dr...
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IPC IPC(8): B60W50/08
CPCB60W50/08B60W2520/00
Inventor 王建强杨奕彬赵晓聪黄荷叶许庆
Owner TSINGHUA UNIV