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A lateral control method for man-machine co-driving with conflict resolution function

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

Active Publication Date: 2021-08-03
JILIN UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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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  • A lateral control method for man-machine co-driving with conflict resolution function
  • A lateral control method for man-machine co-driving with conflict resolution function
  • A lateral control method for man-machine co-driving with conflict resolution function

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Experimental program
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Embodiment Construction

[0091] See Figure 1 to 5 Down:

[0092] The human machine with conflict digeto provided by the present invention includes the following steps:

[0093] Step 1, establish a road model based on human-machine steering torque coupled:

[0094] The modeling of the vehicle steering system is as follows:

[0095]

[0096] In J eq K eq And B eq The rotational inertia, stiffness, and damping of the steering system is equivalent to the steering wheel; θ is a steering wheel corner; τ v Steering resistance torque for steering system equivalent on the steering wheel; τ h Τ m The steering torque applied to the steering wheel is applied to the driver and the machine system;

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

[0098] τ v = K v alpha f (2)

[0099] In K v For resistance torque gain, α f For the front wheel corner;

[0100] The front wheel corner is obtained from the following formula:

[0101]

[0102]...

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Abstract

The invention discloses a human-machine co-driving lateral control method with a conflict resolution function, which includes the following steps: step 1, establishing a vehicle-road model based on man-machine steering torque coupling; step 2, establishing a vehicle trajectory based on man-machine game Follow the controller; step 3, establish a man-machine conflict indicator; step 4, establish a dynamic adjustment method for control rights; beneficial effect: realize the vehicle lateral control under the torque coupling state of the driver and the machine system; adjust the control of both in real time Weights. As the degree of confrontation increases, the control right is gradually transferred to the driver, and the control effect of the machine system is reduced, ensuring that the driver enjoys the highest control right of the vehicle, and the conflict is resolved.

Description

Technical field [0001] The present invention relates to a human machine co-transport transverse control method, and more particularly to a human co-driver transverse control method having a conflicting digestion function. Background technique [0002] At present, under the promotion of automotive enterprises, technical suppliers and government, automatic driving cars have made great progress have been launched in some pilot regions, such as unmanned taxis. However, due to technical limits, potential legal issues, and more important safety factors, the automatic driving applications at this stage are still very limited. In this case, the human machine has become a transition method between manual driving to automatic driving, has received extensive attention from scholars at home and abroad. [0003] Human machine is mainly referred to as the control of the vehicle and the machine system simultaneously or in time. Drivers and machine systems can apply control according to their ow...

Claims

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Application Information

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Patent Type & Authority Patents(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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