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Man-machine co-driving transverse control method with conflict resolution function

A conflict resolution and lateral control technology, applied in the direction of control devices, driver input parameters, vehicle components, etc., can solve the problems of driver interference, increase driver operating load, and failure to take into account, and achieve the effect of reducing operating load

Active Publication Date: 2021-04-30
JILIN UNIV
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  • Description
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AI Technical Summary

Problems solved by technology

This method does not take into account the conflict between the driver and the machine system due to different goals, which will cause the control of the machine system to interfere with the driver when the conflict occurs, increasing the driver's operating load

Method used

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  • Man-machine co-driving transverse control method with conflict resolution function
  • Man-machine co-driving transverse control method with conflict resolution function
  • Man-machine co-driving transverse control method with conflict resolution function

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Embodiment Construction

[0091] see Figure 1 to Figure 5 Shown:

[0092] The human-machine co-driving lateral control method with conflict resolution function provided by the present invention comprises the following steps:

[0093] Step 1. Establish a vehicle-road model based on human-machine steering torque coupling:

[0094] The vehicle steering system is modeled as follows:

[0095]

[0096] In the formula, J eq , k eq and b eq are the moment of inertia, stiffness and damping of the steering system equivalent to the steering wheel; θ is the steering wheel angle; τ v is the equivalent steering resistance torque of the steering system on the steering wheel; τ h and τ m are the steering torque applied to the steering wheel by the driver and the machine system, respectively;

[0097] Under applicable working conditions, the steering resistance torque is mainly proportional to the front wheel angle, namely:

[0098] τ v = K v alpha f (2)

[0099] In the formula, K v is the resistance...

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Abstract

The invention discloses a man-machine co-driving transverse control method with a conflict resolution function. The man-machine co-driving transverse control method comprises the steps of 1, establishing a vehicle-road model based on man-machine steering torque coupling; 2, establishing a vehicle track following controller based on a man-machine game; 3, establishing a man-machine conflict indicator; and 4, establishing a control right dynamic adjustment method; the method has the beneficial effects that vehicle transverse control in a moment coupling state of a driver and a machine system is realized; and the control weights of the two are adjusted in real time. Along with the improvement of the confrontation degree, the control right is gradually transferred to one side of the driver, the control effect of the machine system is reduced, the driver is ensured to enjoy the highest vehicle control right, and the conflict is eliminated.

Description

technical field [0001] The invention relates to a lateral control method for man-machine co-driving, in particular to a lateral control method for man-machine co-driving with a conflict resolution function. Background technique [0002] At present, under the vigorous promotion of automobile companies, technology suppliers and the government, self-driving cars have made great progress, and commercial services such as self-driving taxis have been launched in some pilot areas. However, due to technical limitations, potential legal issues, and more importantly safety factors, the application of autonomous vehicles at this stage is still very limited. In this case, human-machine shared driving has become a transitional method from manual driving to automatic driving, and has received extensive attention from scholars at home and abroad. [0003] Human-machine co-driving mainly refers to the simultaneous or time-sharing control of the driver and the machine system. The driver an...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W50/00
CPCB60W50/00B60W50/0098B60W2050/0029B60W2540/18
Inventor 朱冰韩嘉懿赵健戴景霜王常态
Owner JILIN UNIV
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