Human-machine shared steering control system comprehensive performance quantification evaluation method

Abstract

The application provides a man-machine shared steering control system comprehensive performance quantitative evaluation method, comprising the following steps: S1. A plurality of drivers control the experiment of the man-machine shared steering control system; S2. Obtain the operating parameters in the control experiment, including the front wheel steering angle input by the driver and the front wheel steering angle input by the controller; S3. Determine the evaluation sub-index under the control of the i th driver, and the evaluation sub-index includes the driver workload index, the man-machine conflict index, the vehicle safety index, the controller load index, the driver driving willingness index, the driver suitability index for the man-machine shared steering control system and the influence degree index of the man-machine shared steering control system on the driver steering behavior; and S4. Determine the comprehensive evaluation index based on the evaluation sub-index.

Description

Technical Field

[0001] This invention relates to a vehicle system evaluation method, and more particularly to a comprehensive performance quantitative evaluation method for a human-machine shared steering control system. Background Technology

[0002] Autonomous driving technology is widely regarded as a key development direction for improving traffic safety and efficiency, and has become an important advancement in automotive technology evolution. However, this technology faces numerous challenges, including incomplete technological bottlenecks, an imperfect legal and regulatory framework, and implementation difficulties in practical promotion. Against this backdrop, human-machine cooperative driving (HMC) technology, aiming to enhance driving safety and reduce driver workload, has become a research hotspot. Among these technologies, the human-machine shared steering control (SSC) system, as an important carrier for realizing HMC technology, plays a crucial role in reducing the impact of driver error on safety, alleviating driver workload, and mitigating human-machine conflict.

[0003] In existing technologies, the performance evaluation of human-machine shared steering control systems usually relies on single or local indicators, such as the degree of human-machine conflict and path tracking accuracy. Although these indicators can reflect part of the system's performance to a certain extent, the overall evaluation system is still fragmented, lacking system integration and hierarchy, and it is difficult to comprehensively measure the overall performance of human-machine cooperative driving.

[0004] Therefore, in order to solve the above-mentioned technical problems, it is urgent to propose a new technical approach. Summary of the Invention

[0005] In view of this, the purpose of this invention is to provide a quantitative evaluation method for the comprehensive performance of a human-machine shared steering control system. By determining multi-dimensional and multi-level sub-indicators, and then determining the comprehensive performance evaluation index from the sub-indicators, a systematic and comprehensive evaluation can be achieved during the evaluation process. This can effectively improve the accuracy of the comprehensive performance evaluation of the human-machine shared steering control system and provide accurate and objective data basis for the subsequent design of the human-machine shared control system.

[0006] This invention provides a method for quantitatively evaluating the comprehensive performance of a human-machine shared steering control system, comprising the following steps:

[0007] S1. Several drivers conduct an experiment to operate the human-machine shared steering control system;

[0008] S2. Obtain the operating parameters in the control experiment, including the front wheel steering angle input by the driver and the front wheel steering angle input by the controller;

[0009] S3. Determine the evaluation sub-indicators under the control of the i-th driver. The evaluation sub-indicators include the driver workload index, human-machine conflict index, vehicle safety index, controller load index, driver driving intention index, driver suitability index for the human-machine shared steering control system, and the degree of influence of the human-machine shared steering control system on the driver's steering behavior index.

[0010] S4. Determine the comprehensive evaluation index based on the evaluation sub-indicators:

[0011] ;in: Let represent the mean of the j-th sub-index, which is the arithmetic mean of the j-th sub-index obtained from the driving experiments of each driver.

[0012] Furthermore, in step S3, the driver's workload indicators are determined using the following method:

[0013] ;

[0014] in: This indicates the driver's workload. Indicates the starting time of the driver's control experiment. Indicates the end time of the driver's control experiment. This indicates the front wheel steering angle input by the driver to the human-machine shared steering control system. This indicates the front wheel steering angle threshold that the driver inputs to the human-machine shared steering control system.

[0015] Furthermore, in step S3, the human-machine conflict index is determined using the following method:

[0016] ;

[0017] in: Indicates an indicator of human-machine conflict. This indicates the front wheel steering angle input by the driver to the human-machine shared steering control system. This indicates the front wheel steering angle input to the controller of the human-machine shared steering control system. express and The threshold for the difference between them.

[0018] Furthermore, in step S3, vehicle safety indicators are determined using the following method:

[0019] The vehicle safety indicators include path tracking capability indicators and handling stability indicators;

[0020] ;

[0021] in: Indicators representing path tracking capability This indicates a handling stability index. and These represent the weight coefficients of the corresponding items. This indicates the lateral displacement error of the vehicle. This indicates the threshold for lateral displacement error of the vehicle. This indicates the vehicle's heading angle error. This indicates the vehicle's heading angle error threshold. This indicates the yaw rate of the vehicle. This indicates the yaw rate error threshold of the vehicle. This represents the vehicle's desired yaw rate.

[0022] Furthermore, the desired yaw rate of the vehicle is determined using the following method. :

[0023] ;

[0024] in: Indicates the actual steering angle of the vehicle's front wheels. 'b' represents the horizontal distance from the vehicle's center of gravity to the center of the front axle, and 'b' represents the horizontal distance from the vehicle's center of gravity to the center of the rear axle. Indicates insufficient turning gradient. Indicates the longitudinal speed of the vehicle. Indicates the road surface adhesion coefficient. Denotes a symbolic function, where:

[0025] ;

[0026] ; and These represent the lateral stiffness of the front and rear wheels, respectively, and m represents the total vehicle mass.

[0027] Furthermore, in step S3, the controller load index is determined using the following method:

[0028] ;

[0029] in: Indicates the controller load index. This indicates the front wheel steering angle input to the controller of the human-machine shared steering control system. This represents the front wheel steering angle threshold input to the controller.

[0030] Furthermore, in step S3, the driver's driving intention index is determined using the following method:

[0031] ;

[0032] in: Indicators representing driver engagement Indicates the driver's level of willingness to drive;

[0033] ;

[0034] ;

[0035] in: This indicates the front wheel steering angular velocity input by the driver to the human-machine shared steering control system. This indicates the front wheel steering angular velocity threshold input by the driver to the human-machine shared steering control system. This indicates the actual steering angular velocity of the vehicle's front wheels. This indicates the threshold value of the actual front wheel steering angular velocity of the vehicle; This represents the weighting coefficient of the front wheel steering angle input to the controller. This represents the weighting coefficient for the front wheel steering angle input by the driver. This indicates the threshold value of the actual steering angle of the front wheels.

[0036] Furthermore, in step S3, the driver's suitability index for the human-machine shared steering control system is determined using the following method:

[0037] ;

[0038] in: This indicates the driver's suitability for the human-machine shared steering control system. This represents the weight of the corresponding item, n=1,2,3,4,5; This represents the arithmetic mean of the p-th indicator. Let p represent the p-th index under the i-th driver control experiment, where p = 2, 3, 4, 5, 6; This indicates the total number of drivers who participated in the control experiment.

[0039] Furthermore, in step S3, the degree of influence of the human-machine shared steering control system on the driver's steering behavior is determined by the following method:

[0040] ;

[0041] in: This indicates the front wheel steering angle input by driver i to the human-machine shared steering control system. This represents the front wheel steering angle input by driver i when driving independently in the same experimental scenario.

[0042] The beneficial effects of this invention are as follows: By determining multi-dimensional and multi-level sub-indicators and then using these sub-indicators to determine comprehensive performance evaluation indicators, a systematic and comprehensive evaluation can be achieved during the evaluation process. This can effectively improve the accuracy of the comprehensive performance evaluation of the human-machine shared steering control system and provide accurate and objective data for the subsequent design of the human-machine shared control system. Attached Figure Description

[0043] The present invention will be further described below with reference to the accompanying drawings and embodiments:

[0044] Figure 1 This is a schematic diagram of the process of the present invention.

[0045] Figure 2 This is a schematic diagram of the hierarchical structure of the indicators in this invention. Detailed Implementation

[0046] The present invention will be further described in detail below:

[0047] This invention provides a method for quantitatively evaluating the comprehensive performance of a human-machine shared steering control system, comprising the following steps:

[0048] S1. Several drivers conduct an experiment to operate the human-machine shared steering control system;

[0049] S2. Obtain the operating parameters in the control experiment, including the front wheel steering angle input by the driver and the front wheel steering angle input by the controller;

[0050] S3. Determine the evaluation sub-indicators under the control of the i-th driver. The evaluation sub-indicators include the driver workload index, human-machine conflict index, vehicle safety index, controller load index, driver driving intention index, driver suitability index for the human-machine shared steering control system, and the degree of influence of the human-machine shared steering control system on the driver's steering behavior index.

[0051] S4. Determine the comprehensive evaluation index based on the evaluation sub-indicators:

[0052] ;in: The mean of the j-th sub-index is the arithmetic mean of the j-th sub-index obtained from the driving experiments of each driver. This invention determines multi-dimensional and multi-level sub-indexes, namely sub-indexes satisfying four aspects: safety, reliability, applicability, and comfort. Then, based on these sub-indexes, a comprehensive performance evaluation index is determined for the human-machine shared steering control system. This allows for a systematic and comprehensive evaluation, effectively improving the accuracy of the comprehensive performance evaluation of the human-machine shared steering control system and providing accurate and objective data for the subsequent design of the human-machine shared steering control system.

[0053] In this embodiment, in step S3, the driver's workload index is determined by the following method:

[0054] ;

[0055] in: This indicates the driver's workload. Indicates the starting time of the driver's control experiment. Indicates the end time of the driver's control experiment. This indicates the front wheel steering angle input by the driver to the human-machine shared steering control system. This indicates the front wheel steering angle threshold that the driver inputs to the human-machine shared steering control system.

[0056] In this embodiment, in step S3, the human-machine conflict index is determined by the following method:

[0057] ;

[0058] in: Indicates an indicator of human-machine conflict. This indicates the front wheel steering angle input by the driver to the human-machine shared steering control system. This indicates the front wheel steering angle input to the controller of the human-machine shared steering control system. express and The difference threshold between the two values ​​significantly increases the likelihood of human-machine conflict when there is a discrepancy between the decisions made by the automatic control system and the driver. This is because it is difficult to capture the decision-making information of the control system and the driver in real time. Therefore, the above method can accurately quantify human-machine conflict and provide accurate data for determining comprehensive indicators.

[0059] In this embodiment, in step S3, the vehicle safety index is determined by the following method:

[0060] The vehicle safety indicators include path tracking capability indicators and handling stability indicators;

[0061] ;

[0062] in: Indicators representing path tracking capability This indicates a handling stability index. and These represent the weight coefficients of the corresponding items. This indicates the lateral displacement error of the vehicle. This indicates the threshold for lateral displacement error of the vehicle. This indicates the vehicle's heading angle error. This indicates the vehicle's heading angle error threshold. This indicates the yaw rate of the vehicle. This indicates the yaw rate error threshold of the vehicle. This represents the vehicle's desired yaw rate.

[0063] The desired yaw rate of the vehicle is determined by the following method. :

[0064] ;

[0065] in: Indicates the actual steering angle of the vehicle's front wheels. 'b' represents the horizontal distance from the vehicle's center of gravity to the center of the front axle, and 'b' represents the horizontal distance from the vehicle's center of gravity to the center of the rear axle. Indicates insufficient turning gradient. Indicates the longitudinal speed of the vehicle. Indicates the road surface adhesion coefficient. Denotes a symbolic function, where:

[0066] ;

[0067] ; and These represent the lateral stiffness of the front and rear wheels, respectively, and m represents the vehicle's total mass. This provides accurate data support for determining subsequent comprehensive indicators. Specifically, when... A value greater than 0 indicates that the front wheels are turning left. If the value is less than 0, it means the front wheels are turning right.

[0068] In this embodiment, in step S3, the controller load index is determined by the following method:

[0069] ;

[0070] in: Indicates the controller load index. This indicates the front wheel steering angle input to the controller of the human-machine shared steering control system. This represents the front wheel steering angle threshold input to the controller.

[0071] In this embodiment, in step S3, the driver's driving intention index is determined by the following method:

[0072] ;

[0073] in: Indicators representing driver engagement This indicates the intensity of the driver's driving intention; the driver's driving intention index can evaluate the strength of the driver's driving intention. However, this intention may not be satisfied, for example, when the driver's authority is extremely limited, the driver's involvement will be weakened. Then, the driver will input more steering wheel angle to satisfy their driving intention, and the vehicle's safety will be compromised due to the driver's uncertain behavior. Therefore, using both the driver's sense of participation index and the intensity of the driver's driving intention to characterize the indicator makes the index more accurate and objective; among which:

[0074] ;

[0075] ;

[0076] in: This indicates the front wheel steering angular velocity input by the driver to the human-machine shared steering control system. This indicates the front wheel steering angular velocity threshold input by the driver to the human-machine shared steering control system. This indicates the actual steering angular velocity of the vehicle's front wheels. This indicates the threshold value of the actual front wheel steering angular velocity of the vehicle; This represents the weighting coefficient of the front wheel steering angle input to the controller. This represents the weighting coefficient for the front wheel steering angle input by the driver. This represents the actual steering angle threshold of the front wheels; where, if A value greater than or equal to 1 indicates that the driver's driving intention is positive. The larger the value, the stronger the driving intention. If A value less than 1 indicates that the driver is dependent on the vehicle. The smaller the value, the higher the dependency. It describes the percentage of time the driver is involved in vehicle control. The larger the value, the greater the role the driver's input plays in vehicle control, and the better their sense of participation.

[0077] In this embodiment, in step S3, the driver's suitability index for the human-machine shared steering control system is determined by the following method:

[0078] ;

[0079] in: This indicates the driver's suitability for the human-machine shared steering control system. This represents the weight of the corresponding item, n=1,2,3,4,5; This represents the arithmetic mean of the p-th indicator. Let p represent the p-th index under the i-th driver control experiment, where p = 2, 3, 4, 5, 6; This indicates the total number of drivers who participated in the control experiment.

[0080] In this embodiment, in step S3, the degree of influence of the human-machine shared steering control system on the driver's steering behavior is determined by the following method:

[0081] ;

[0082] in: This indicates the front wheel steering angle input by driver i to the human-machine shared steering control system. This represents the front wheel steering angle input by driver i when driving independently in the same experimental scenario.

[0083] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A method for quantitatively evaluating the comprehensive performance of a human-machine shared steering control system, characterized in that: Includes the following steps: S1. Several drivers conduct an experiment to operate the human-machine shared steering control system; S2. Obtain the operating parameters in the control experiment, including the front wheel steering angle input by the driver and the front wheel steering angle input by the controller; S3. Determine the evaluation sub-indicators under the control of the i-th driver. The evaluation sub-indicators include the driver workload index, human-machine conflict index, vehicle safety index, controller load index, driver driving intention index, driver suitability index for the human-machine shared steering control system, and the degree of influence of the human-machine shared steering control system on the driver's steering behavior index. S4. Determine the comprehensive evaluation index based on the evaluation sub-indicators: ;in: Let represent the mean of the j-th sub-index, which is the arithmetic mean of the j-th sub-index obtained from the driving experiments of each driver.

2. The method for quantitatively evaluating the comprehensive performance of the human-machine shared steering control system according to claim 1, characterized in that: In step S3, the driver's workload indicators are determined using the following method: ； in: This indicates the driver's workload. Indicates the starting time of the driver's control experiment. Indicates the end time of the driver's control experiment. This indicates the front wheel steering angle input by the driver to the human-machine shared steering control system. This indicates the front wheel steering angle threshold that the driver inputs to the human-machine shared steering control system.

3. The method for quantitatively evaluating the comprehensive performance of the human-machine shared steering control system according to claim 1, characterized in that: In step S3, the human-machine conflict index is determined using the following method: ； in: Indicates an indicator of human-machine conflict. This indicates the front wheel steering angle input by the driver to the human-machine shared steering control system. This indicates the front wheel steering angle input to the controller of the human-machine shared steering control system. express and The threshold for the difference between them.

4. The method for quantitatively evaluating the comprehensive performance of the human-machine shared steering control system according to claim 1, characterized in that: In step S3, vehicle safety indicators are determined using the following method: The vehicle safety indicators include path tracking capability indicators and handling stability indicators; ； in: Indicators representing path tracking capability This indicates a handling stability index. and These represent the weight coefficients of the corresponding items. This indicates the lateral displacement error of the vehicle. This indicates the threshold for lateral displacement error of the vehicle. This indicates the vehicle's heading angle error. This indicates the vehicle's heading angle error threshold. This indicates the yaw rate of the vehicle. This indicates the yaw rate error threshold of the vehicle. This represents the vehicle's desired yaw rate.

5. The method for quantitatively evaluating the comprehensive performance of the human-machine shared steering control system according to claim 4, characterized in that: The desired yaw rate of the vehicle is determined by the following method. : ； in: Indicates the actual steering angle of the vehicle's front wheels. 'b' represents the horizontal distance from the vehicle's center of gravity to the center of the front axle, and 'b' represents the horizontal distance from the vehicle's center of gravity to the center of the rear axle. Indicates insufficient turning gradient. Indicates the longitudinal speed of the vehicle. Indicates the road surface adhesion coefficient. Denotes a symbolic function, where: ； ; and These represent the lateral stiffness of the front and rear wheels, respectively, and m represents the total vehicle mass.

6. The method for quantitatively evaluating the comprehensive performance of the human-machine shared steering control system according to claim 1, characterized in that: In step S3, the controller load index is determined using the following method: ； in: Indicates the controller load index. This indicates the front wheel steering angle input to the controller of the human-machine shared steering control system. This represents the front wheel steering angle threshold input to the controller.

7. The method for quantitatively evaluating the comprehensive performance of the human-machine shared steering control system according to claim 1, characterized in that: In step S3, the driver's driving intention index is determined using the following method: ； in: Indicators representing driver engagement Indicates the driver's level of willingness to drive; ； ； in: This indicates the front wheel steering angular velocity input by the driver to the human-machine shared steering control system. This indicates the front wheel steering angular velocity threshold input by the driver to the human-machine shared steering control system. This indicates the actual steering angular velocity of the vehicle's front wheels. This indicates the threshold value of the actual front wheel steering angular velocity of the vehicle; This represents the weighting coefficient of the front wheel steering angle input to the controller. This represents the weighting coefficient for the front wheel steering angle input by the driver. This indicates the threshold value of the actual steering angle of the front wheels.

8. The method for quantitatively evaluating the comprehensive performance of the human-machine shared steering control system according to claim 1, characterized in that: In step S3, the driver's suitability index for the human-machine shared steering control system is determined using the following method: ； in: This indicates the driver's suitability for the human-machine shared steering control system. This represents the weight of the corresponding item, n=1,2,3,4,5; This represents the arithmetic mean of the p-th indicator. Let p represent the p-th index under the i-th driver control experiment, where p = 2, 3, 4, 5, 6; This indicates the total number of drivers who participated in the control experiment.

9. The method for quantitatively evaluating the comprehensive performance of the human-machine shared steering control system according to claim 1, characterized in that: In step S3, the degree of influence of the human-machine shared steering control system on the driver's steering behavior is determined by the following method: ； in: This indicates the front wheel steering angle input by driver i to the human-machine shared steering control system. This represents the front wheel steering angle input by driver i when driving independently in the same experimental scenario.

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