Man-machine sharing steering control method of intelligent automobile

Abstract

The invention relates to a man-machine sharing steering control method of an intelligent automobile, aims to improve path tracking performance of the intelligent automobile and the operation comfort of a driver in a time delay communication environment, and belongs to the field of intelligent automobile driving auxiliary systems. The method comprises the following steps: establishing a pedestrian-automobile-road system model; determining a system control target; and solving the gain of the shared steering controller, calculating the required active steering angle, and carrying out the online control of the intelligent automobile. The automobile path tracking precision can be effectively improved, and the operation comfort of the driver can be increased. Particularly, a time delay phenomenon in a control loop is considered in man-machine sharing steering control of the intelligent automobile, and the delay comprises three types of network induction delay, signal transmission delay and actuator delay so that the path tracking performance of the automobile is ensured, and meanwhile, the robustness is relatively high, and the method has superiority in a time delay environment.

Description

technical field [0001] The invention belongs to the field of driving assistance systems for smart cars, and in particular relates to a man-machine sharing steering control method for smart cars. Background technique [0002] With the increasing number of cars, the road traffic environment has become more and more complex, which puts forward an urgent need to improve the driving safety and driving comfort of vehicles. Smart cars, equipped with sensing components, computing units and advanced control execution devices, can assist the driver in controlling the vehicle in three aspects: perception, decision-making and execution. Effective measures for accidents. As one of the core technologies of smart cars, human-machine shared steering control means that both the driver and the automation system have online control over the steering function of the vehicle, and it is a key technology to ensure that the vehicle follows the expected path. In the human-machine shared steering c...

AI Technical Summary

Problems solved by technology

On the one hand, vehicle-mounted network communication has the advantages of realizing information resource sharing, improving diagnostic capabilities, reducing costs, and being easy to expand and maintain, which greatly promotes the development of vehicle intelligence, automation, and standardization; on the other hand, the bandwidth of vehicle-mounted networks is limited , this fact inevitably creates constraints such as network-induced delay, data packet loss, comm

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