Man-machine hybrid intelligent cooperative vehicle following control method for keeping driver in loop

A control method and driver's technology, applied in the field of driver-in-the-loop human-machine co-driving control, can solve problems such as high attention level, expensive sensors, and driver distress

Active Publication Date: 2020-08-21
CHONGQING UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The sensors installed by this method are expensive and have limited detection accuracy
The second type is to maintain a high level of attention of the driver through man-machine switching control. Although this type of method can optimize the switching signal through algorithms such as model predictive control and Markov prediction, this non-periodic switching still cannot completely Avoid the risk that the driver is not in the ring, and at the same time affect the driver's driving experience to a certain extent
This method fails to fully consider and give full play to the respective advantages of human-machine intelligence, and operations such as deviation correction or compensation of driving automation will also cause a certain degree of distress to the driver's operation

Method used

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  • Man-machine hybrid intelligent cooperative vehicle following control method for keeping driver in loop
  • Man-machine hybrid intelligent cooperative vehicle following control method for keeping driver in loop
  • Man-machine hybrid intelligent cooperative vehicle following control method for keeping driver in loop

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Experimental program
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Embodiment 1

[0101] Such as Figure 1-2 A human-machine hybrid intelligent collaborative car following control method for keeping the driver in the loop is shown, comprising the following steps:

[0102] Step 1: Define the configuration, follow-up tasks and scenarios of the autonomous driving vehicle

[0103] The self-driving car is equipped with high-precision actuators and sensors. The front car and the main car are in the same lane, and the following self-driving car can obtain real-time acceleration information of the front car through wireless communication. p ; At the same time, the self-driving vehicle obtains the relative inter-vehicle distance Δx and the relative vehicle speed Δv between the two vehicles through the sensor;

[0104] Step 2: Construct vehicle longitudinal dynamics model

[0105] Considering the influence of factors such as vehicle inertia, engine torque, air resistance and ground friction, construct the vehicle longitudinal speed v(t), acceleration a(t), and jerk...

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Abstract

The invention discloses a man-machine hybrid intelligent cooperative vehicle following control method for keeping a driver in the loop. The method comprises the following steps: limiting automatic driving vehicle configuration, a vehicle following task and a scene; constructing a vehicle longitudinal kinetic model; establishing a longitudinal vehicle following state space expression; carrying outman-machine division on the longitudinal vehicle following tasks; designing a vehicle speed following controller of a driving automation system; constructing a vehicle speed following closed-loop control system; solving the gain of the vehicle speed following controller; finely adjusting the vehicle speed following controller; and designing and guiding a driver vehicle distance adjusting strategy.The advantages of a human driver and an automatic driving system are fully fused, so that the vehicle following task is intelligent, safe, worry-saving and labor-saving.

Description

technical field [0001] The invention belongs to the field of human-machine co-driving of smart cars, especially for the longitudinal follow-up control task of smart cars. Stability, safety and comfort. Background technique [0002] At present, the problems of driver absence and safety takeover have become the main problems faced by autonomous driving at this stage, and have attracted extensive attention from relevant scholars all over the world. Human-machine co-driving is a feasible technical means to improve the stability, safety and comfort of smart cars by giving full play to the respective advantages of man and machine. [0003] The existing research on human-machine co-driving can be roughly divided into three categories according to the method of human-machine collaboration. The first category is to detect the driver's status in real time by installing corresponding sensors to ensure that the driver can safely take over the vehicle when the automatic driving system ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 孙棣华赵敏李洋
Owner CHONGQING UNIV
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