基于预期偏移距离的人机权值分配策略研究*

doi:10.19562/j.chinasae.qcgc.2020.04.014

汽车工程 ›› 2020, Vol. 42 ›› Issue (4): 513-521.doi: 10.19562/j.chinasae.qcgc.2020.04.014

基于预期偏移距离的人机权值分配策略研究^*

陈无畏¹, 王其东^1,2, 丁雨康¹, 赵林峰¹, 王慧然¹, 谢有浩³

1.合肥工业大学汽车与交通工程学院,合肥 230009;
2.合肥学院机械工程系,合肥 230071;
3.安徽猎豹汽车有限公司,滁州 239064)

出版日期:2020-04-25 发布日期:2020-05-12
通讯作者: 王其东,教授,博士,E-mail:qidongwang1964@163.com
基金资助:
*国家自然科学基金(51675151)、国家自然科学基金联合基金(重点)项目(U1564201)和安徽省科技重大专项(17030901060)资助。

Weight Allocation Strategy Between Human and MachineBased on the Preview Distance to Lane Center

Chen Wuwei¹, Wang Qidong^1,2, Ding Yukang¹, Zhao Linfeng¹, Wang Huiran¹ & Xie Youhao³

1.School of Automotive and Transportation Engineering, Hefei University of Technology, Hefei 230009;
2.Mechanical Engineering,Hefei University, Hefei 230071;
3.Anhui Leopaard Automobile Co., Ltd., Chuzhou 239064

Online:2020-04-25 Published:2020-05-12

摘要/Abstract

摘要： 针对智能车辆横向运动控制中驾驶员和辅助系统的控制权限冲突问题,本文中提出一种人机权值分配策略。采用车辆在预瞄点处的预期偏移距离(PDLC)衡量车道偏离危险度,预期偏移距离通过对预瞄偏差修正获取。权值分配函数设计时以PDLC为自变量,以保证驾驶员的权值为优先控制目标,以一定的横向运动控制精度为先决条件。在CarSim/Simulink联合仿真平台和CarSim/Labview RT硬件在环实验台上对提出的控制策略进行了实验验证和数据分析。结果表明,采用权值分配策略协调驾驶员和辅助系统的控制,可在有效跟踪理想道路中心线的前提下保证驾驶员的控制权值,降低其工作负荷以及纠正驾驶员的误操作行为。

关键词: 智能车辆, 横向运动控制, 权值分配, 预期偏移距离

Abstract: This paper proposes a human-machine weight allocation strategy for the problem of the control authority conflict between the driver and assistance system in lateral motion control of intelligent vehicle. The preview distance to lane center (PDLC) of the vehicle at the preview point is used to evaluate the lane departure risk and the preview distance to lane center is obtained by correcting the preview deviation. The weight allocation function is designed using PDLC as the independent variable, with the priority control objective of ensuring the driver's control weight and the prerequisite of certain lateral motion control accuracy. Experimental verification and data analysis of the proposed control strategy are carried out by the joint simulation platform of CarSim/Simulink and CarSim/Labview RT hardware in the loop test bench. The results show that when the weight allocation strategy is used to coordinate the control effect of the driver and assistance system, it will ensure the driver's control weight under the premise of effectively tracking the ideal lane center, reduce the workload and correct the misoperation of the driver

Key words: intelligent vehicle, lateral motion control, weight allocation, preview distance to lane center

陈无畏, 王其东, 丁雨康, 赵林峰, 王慧然, 谢有浩. 基于预期偏移距离的人机权值分配策略研究^*[J]. 汽车工程, 2020, 42(4): 513-521.

Chen Wuwei, Wang Qidong, Ding Yukang, Zhao Linfeng, Wang Huiran, Xie Youhao. Weight Allocation Strategy Between Human and MachineBased on the Preview Distance to Lane Center[J]. Automotive Engineering, 2020, 42(4): 513-521.

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基于预期偏移距离的人机权值分配策略研究^*

Weight Allocation Strategy Between Human and MachineBased on the Preview Distance to Lane Center

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