Man-machine co-driving control method based on non-cooperative game and related device

Abstract

The invention discloses a man-machine co-driving control method based on a non-cooperative game, and the method comprises the steps: determining a motion feasible region of a vehicle according to a preview offset distance of the vehicle; determining a driving control weight of a driver according to the motion feasible region of the vehicle; wherein in the process that the motion feasible region of the vehicle changes in the gradually-increasing direction of the danger degree, the driving control weight of the driver is decreased progressively; determining the driving control weight of the intelligent system according to the driving control weight of the driver; the sum of the driving control weight of the intelligent system and the driving control weight of the driver is 1; and controlling the vehicle according to the driving control weight of the driver and the driving control weight of the intelligent system. According to the method, man-machine conflicts in the man-machine co-driving process can be reduced, and stable handover of the driving control weight between the driver and the intelligent system is achieved. The invention further discloses a man-machine co-driving control device and equipment based on the non-cooperative game and a computer readable storage medium which all have the above technical effects.

Description

technical field [0001] The present application relates to the technical field of intelligent vehicles, in particular to a non-cooperative game-based human-machine co-driving control method; it also relates to a non-cooperative game-based human-machine co-driving control device, equipment, and a computer-readable storage medium. Background technique [0002] Human-machine co-driving means that the driver and the intelligent system are in the ring at the same time, share the driving control weight of the vehicle, and the human-machine integration cooperates to complete the driving task. Through human-machine co-driving, the driver's driving burden can be reduced, and part of the driving tasks can be handed over to the intelligent system, thereby improving the comfort during driving. The core issue of human-machine co-driving is the transfer method of driving control weights and the description of its dynamic allocation process. When human-machine control exists in parallel, t...

AI Technical Summary

Problems solved by technology

According to whether the driver and the intelligent system are in the loop at the same time, the human-machine collaborative control method can be summarized as: 1. Intelligent assisted driving; 2. Driving control weight switching in specific scenarios; 3. Driving control in the process of human-machine co-driving The dynamic allocation of weights is mainly to comprehensively coordinate the control effect by designing weight allocation strategies, but there is still a lack of sufficient theoretical support for how to design appropriate weights and clarify intervention criteria

In addition, the existing schemes are more about seeking a simple compromise between weight distribution and tracking accuracy, and priority is given to ensuring control objectives such as lateral deviation, azimuth deviation, or yaw angle deviation, which can easily lead to excessive intervention in the driver's operation Case

Images