Master-slave game type human-machine cooperative steering control method in ice and snow environment

A technology of man-machine collaboration and steering control, applied in instrumentation, geometric CAD, design optimization/simulation, etc., can solve problems such as control conflicts, achieve the effects of improving stability, reducing computational burden, and expanding the stable range

Active Publication Date: 2021-10-26
JILIN UNIV
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AI Technical Summary

Problems solved by technology

[0004] In order to solve the problem of control conflict between the driver and the cooperative steering controller under the condition of target inconsistency in the ice and snow environment, the present invention proposes a master-slave game-type human-machine cooperative steering control method that can realize the priority of the driver's control target in the ice and snow environment

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  • Master-slave game type human-machine cooperative steering control method in ice and snow environment
  • Master-slave game type human-machine cooperative steering control method in ice and snow environment
  • Master-slave game type human-machine cooperative steering control method in ice and snow environment

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Embodiment Construction

[0107] The present invention is described in detail below in conjunction with accompanying drawing:

[0108] The present invention proposes a master-slave game-type man-machine cooperative steering control method in an ice and snow environment, and its schematic flow chart and schematic diagram are as follows figure 1 , figure 2 shown.

[0109] The concrete implementation steps of this method are as follows:

[0110] Step 1. Establish the steering system model of the shared driving vehicle in the ice and snow environment:

[0111] Establish a geodetic coordinate system: the origin O is fixed on the ground, the positive direction of the X-axis is the initial movement direction of the vehicle, and the positive direction of the Y-axis is the direction in which the X-axis rotates 90 degrees counterclockwise;

[0112] Establish the vehicle coordinate system: take the vehicle center of mass o as the coordinate origin, the positive direction of the x-axis is the forward direction...

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Abstract

The invention provides a master-slave game type human-machine cooperative steering control method in an ice and snow environment, and aims to solve the problem of control conflicts between a driver and a cooperative steering controller in the ice and snow environment under the condition of target inconsistency. The method comprises the following steps of: adopting a corner-interactive human-machine fusion control scheme to linearize tire lateral deviation force, and establishing a steering system model of a co-driving vehicle in the ice and snow environment; considering the condition that human-machine control targets are inconsistent, reducing control conflicts by constructing a master-slave game relationship, and realizing a human-machine cooperative steering control that prioritizes a driver for target control. According to the method, under the ice and snow environment, when the driver and the cooperative steering control target are inconsistent and control conflicts occur, a human-machine cooperative steering control that prioritizes drivers for target control can be achieved; the tire lateral deviation force is fully utilized, the stability range of the automobile during steering is expanded, and the stability of the automobile during steering in the ice and snow environment is improved.

Description

technical field [0001] The invention belongs to the technical field of intelligent driving control, and relates to a human-vehicle cooperative steering control method, more specifically, a master-slave game-type human-machine cooperative steering control method in an ice and snow environment. Background technique [0002] When the car is driving in the ice and snow environment, due to the reduction of the road adhesion coefficient, ordinary drivers are prone to lateral instability when performing steering operations such as overtaking, changing lanes, and emergency obstacle avoidance. Tire stress is the main factor affecting vehicle handling stability. Most of the existing research is based on the safety constraints on the tire slip angle, and the lateral force of the tire is not fully utilized. [0003] As a hot topic in the field of smart vehicles, human-machine collaborative control can give full play to the advantages of fine perception, standardized decision-making, and...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F30/20G06F30/15G06F119/14
CPCG06F30/20G06F30/15G06F2119/14
Inventor 郭洪艳时婉晴刘俊胡云峰
Owner JILIN UNIV
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