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A Human-Machine Hybrid Intelligent Cooperative Follow-up Control Method for Keeping the Driver in the Loop

A technology for drivers and autonomous vehicles, applied in the field of driver-in-the-loop human-machine co-driving control, can solve the problems of high attention level, driver troubles, expensive sensors, etc., and achieve the effect of small operation load

Active Publication Date: 2022-03-11
CHONGQING UNIV
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  • Summary
  • 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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  • A Human-Machine Hybrid Intelligent Cooperative Follow-up Control Method for Keeping the Driver in the Loop
  • A Human-Machine Hybrid Intelligent Cooperative Follow-up Control Method for Keeping the Driver in the Loop
  • A Human-Machine Hybrid Intelligent Cooperative Follow-up Control Method for Keeping the Driver in the Loop

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Experimental program
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Effect test

Embodiment 1

[0102] 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:

[0103] Step 1: Define the configuration, follow-up tasks and scenarios of the autonomous driving vehicle

[0104] 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 △x and relative vehicle speed △v between the two vehicles through the sensor;

[0105] Step 2: Construct vehicle longitudinal dynamics model

[0106] 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 acc...

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Abstract

The invention discloses a human-machine hybrid intelligent collaborative car following control method that keeps the driver in the loop, comprising the following steps: defining the configuration, car following tasks and scenes of an automatic driving vehicle; constructing a vehicle longitudinal dynamics model; establishing a longitudinal car following state Spatial expression; human-machine division of labor for longitudinal car following tasks; design of vehicle speed following controller for driving automation system; construction of vehicle speed following closed-loop control system; solution of vehicle speed following controller gain; fine-tuning of vehicle speed following controller; Spacing adjustment strategy. The invention fully integrates the advantages of the human driver and the automatic driving system, so that the car following task is intelligent, safe, worry-free 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 Patents(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 孙棣华赵敏李洋
Owner CHONGQING UNIV
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