Robust control method for human-machine co-driving based on driver nms characteristics

A robust control and driver technology, applied in the field of human-machine co-driving, can solve problems such as the driver's neuromuscular system, and achieve the effect of improving the path tracking ability

Active Publication Date: 2022-06-24
环形山(重庆)科技有限公司
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Problems solved by technology

[0003] In the human-machine co-driving environment, it is inevitable that the automatic driving will fail and the driver needs to take over. The current existing technology mainly focuses on how long the system provides the driver with warning time, but does not consider the driver's nerves when taking over. The influence of changes in the characteristics of the neuromuscular system (NMS), and how to assist the driver in the case of changes in NMS characteristics

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  • Robust control method for human-machine co-driving based on driver nms characteristics
  • Robust control method for human-machine co-driving based on driver nms characteristics
  • Robust control method for human-machine co-driving based on driver nms characteristics

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Embodiment Construction

[0041] The present invention is further described below in conjunction with the accompanying drawings, as shown in the figure:

[0042] The man-machine co-driving robust control method based on the driver's NMS feature of the present invention comprises the following steps:

[0043] S1. In the automatic driving state, determine the H that controls the torque of the EPS motor ∞ controller;

[0044] S2. Adjust the H ∞ The control parameters of the controller make the vehicle output the target steering wheel angle;

[0045] S3. In the case where the driver takes over the vehicle, determine the safety performance controller that controls the driver's input;

[0046] S4. Adjust the control parameters of the performance controller so that the vehicle outputs the target steering wheel angle.

[0047] Among them, the EPS is the abbreviation of Electric Power Steering, that is, an electric power steering system, which is an existing concept.

[0048] It should be noted that, in or...

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Abstract

The invention discloses a human-machine co-driving robust control method based on the driver's NMS feature, which includes the steps: S1. In the automatic driving state, determine the H for controlling the torque of the EPS motor ∞ Controller; S2. Adjust the H ∞ The control parameters of the controller, so that the vehicle outputs the target steering wheel angle; S3. When the driver takes over the vehicle, determine the guaranteed performance controller that controls the driver’s input; S4. Adjust the control parameters of the guaranteed performance controller, so that the vehicle Output the target steering wheel angle. A human-machine co-driving robust control method based on the driver's NMS feature of the present invention can reduce the driver's input interference to improve the vehicle path tracking ability in the automatic driving state, and improve the driving ability when the driver takes over the vehicle. employee path tracking capabilities.

Description

technical field [0001] The invention relates to the field of co-driving between humans and machines, in particular to a robust control method for co-driving between humans and machines based on driver NMS characteristics. Background technique [0002] Human-machine co-driving means that the driver and the automatic driving system share control over the vehicle. When encountering a driving scenario that the automatic driving system cannot handle, the driver needs to take over the vehicle effectively. In the state of human-machine co-driving, the driving task will be transformed from a traditional continuous process to a discrete process in which the driver takes over the alternate transformation. [0003] In the human-machine co-driving environment, it is inevitable that the automatic driving will fail and the driver needs to take over. The current existing technology mainly focuses on how long the system provides the driver with warning time, and does not consider the driver...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/00
CPCG05D1/0061
Inventor 隗寒冰吴化腾张煜轩龙翔
Owner 环形山(重庆)科技有限公司
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