Human-vehicle cooperative driving method and system based on hybrid control instruction

Abstract

A human-vehicle cooperative driving method based on a hybrid control instruction at least comprises the following steps of: in a manual driving mode in vehicle driving modes, obtaining current speed information of a vehicle based on a sensor module; determining obstacle information in front of the automobile based on an obstacle detection module; enabling the control module to detect manual operation of a driver on the steering module and the braking module, and generate a first steering control instruction and a first braking control instruction based on the manual operation of the driver on the steering module and the braking module; generating a first control command according to the first steering control command and the first braking control command; enabling the central processor to generate a second control command based on the obstacle information and the current speed information of the automobile; and combining the current speed information of the automobile, the obstacle information, the first control command and the second control command to form a hybrid control command according to a logic hybrid mode, and controlling the automobile to avoid the obstacle through the hybrid control command.

Description

[0001] The present invention is a divisional application with the application number 201810933079.1, the application date is August 15, 2018, the application type is invention, and the application name is an obstacle avoidance control method and system suitable for automobiles. technical field [0002] The invention belongs to the technical field of automatic control, and in particular relates to a human-vehicle cooperative driving method and system based on mixed control instructions. Background technique [0003] With the rapid development of the economy, cars have become a necessity of life and entered every household. At the same time, the incidence of traffic accidents is also increasing day by day, and people's lives have been seriously threatened. Therefore, vehicle safety has entered people's field of vision. Much attention. [0004] The operation of modern vehicles is becoming more and more automated, and there is an increasing trend to provide driving control syste...

AI Technical Summary

Problems solved by technology

", similarly, does not relate to the technical problem that may cause traffic accidents in the prior art due to the driver subconsciously turning the steering wheel too much to avoid obstacles when the car is running at high speed

[0015] In the process of sudden steering or acceleration, drivers who lack driving experience are often unable to accurately grasp the steering angle and driving speed required to avoid the obstacle at the current speed and distance, and use the maximum steering angle or driving speed that the car can achieve. It is the maximum driving speed for obstacle avoidance, increasing the steering angle or driving speed will lead to driving instability and a sudden increase in the required driving power

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