考虑驾驶权动态分配的共享转向系统鲁棒控制

doi:10.19562/j.chinasae.qcgc.2022.11.006

汽车工程 ›› 2022, Vol. 44 ›› Issue (11): 1676-1688.doi: 10.19562/j.chinasae.qcgc.2022.11.006

所属专题：智能网联汽车技术专题-规划&控制2022年

考虑驾驶权动态分配的共享转向系统鲁棒控制

李学鋆^1,²,汪怡平^1,²(),苏楚奇^1,²,宫新乐³,黄晋³(),刘珣^1,²,袁晓红^1,²,李惠乾³

^1.武汉理工大学，现代汽车零部件技术湖北省重点实验室，武汉　430070
^2.武汉理工大学，汽车零部件技术湖北省协同创新中心，武汉　430070
^3.清华大学车辆与运载学院，北京　100084

收稿日期:2022-04-25 修回日期:2022-05-18 出版日期:2022-11-25 发布日期:2022-11-19
通讯作者: 汪怡平,黄晋 E-mail:wangyiping@whut.edu.cn;huangjin@tsinghua.edu.cn
基金资助:
国家自然科学基金(51775395);111工程项目(B17034);教育部创新团队发展计划项目(IRT17R83)

Robust Control for Shared Steering Control System Based on Authority Level Dynamic Allocation

Xueyun Li^1,²,Yiping Wang^1,²(),Chuqi Su^1,²,Xinle Gong³,Hung Jin³(),Xun Liu^1,²,Xiaohong Yuan^1,²,Huiqian Li³

^1.Wuhan University of Technology，Hubei Key Laboratory of Advanced Technology for Automotive Components，Wuhan 　430070
^2.Wuhan University of Technology，Hubei Research Center for New Energy & Intelligent Connected Vehicle，Wuhan 　430070
^3.School of Vehicle and Mobility，Tsinghua University，Beijing 　100084

Received:2022-04-25 Revised:2022-05-18 Online:2022-11-25 Published:2022-11-19
Contact: Yiping Wang,Hung Jin E-mail:wangyiping@whut.edu.cn;huangjin@tsinghua.edu.cn

摘要/Abstract

摘要：

驾驶员和自动驾驶系统的驾驶权之和被固定为1时，复杂场景下可能会出现车辆转向需求与共享转向控制（shared steering control，SSC）系统输出不匹配的问题，影响车辆行驶安全。为了解决这一问题，提出了一种驾驶权动态分配方法，并针对驾驶权分配系数和车辆参数不确定性设计了鲁棒控制器。首先，在并联式SSC系统框架的基础上，提出了包括驾驶员模型、轨迹跟踪控制器、驾驶权动态分配模型和车辆模型的SSC系统拓展框架。建立了驾驶员状态评估模型、车辆轨迹跟踪状态评估模型和驾驶权分配与决策模型；以驾驶员状态评估和车辆轨迹跟踪状态评估结果为决策依据，结合驾驶权分配模型计算结果，动态决策驾驶员与控制器的驾驶权分配系数。然后，考虑驾驶权分配系数和车辆模型参数的不确定性，设计了鲁棒反馈控制器。最后通过仿真验证了所提方法的有效性，仿真结果表明：所提SSC系统可以有效降低外部干扰和驾驶员误操作对车辆安全带来的影响，减小转向过程中驾驶员的驾驶负荷、心理负荷和控制器工作负荷。

关键词: 人机共驾系统, 共享转向控制系统, 驾驶权动态分配, 驾驶权分配系数

Abstract:

When the sum of the driving rights of the driver and autonomous driving system is fixed to 1， the vehicle steering demand may not match the output of the shared steering control （SSC） system in complex scenarios， which will affect the driving safety of the vehicles. To solve the problem， an authority dynamic allocation approach is proposed， and a robust controller is designed considering the uncertainty of the authority levels and model parameters. Firstly， based on the parallel SSC system framework， an SSC system expansion framework including the driver model， trajectory tracking controller， authority dynamic allocation model， and vehicle model is proposed. The driving state evaluation model， vehicle trajectory tracking state evaluation model， and authority level allocating and decision-making model are proposed. The results of driver’s driving state evaluation and vehicle trajectory tracking state evaluation results are used as the basis for decision-making， combined with the calculation result of the authority allocation model， the authority level of the driver and controller can be determined dynamically. Then， the robust feedback controller is proposed considering the uncertainty of the authority level and vehicle model parameters. Finally， the effectiveness of the proposed SSC system is verified by simulation. The simulation results show that the proposed SSC system can effectively reduce the influence of interference and driver’s misoperation on vehicle safety， and can reduce the driver’s driving load， psychology load and controller workload during steering.

Key words: human machine co-driving system, shared steering control system, authority dynamic allocation, authority allocation level

李学鋆,汪怡平,苏楚奇,宫新乐,黄晋,刘珣,袁晓红,李惠乾. 考虑驾驶权动态分配的共享转向系统鲁棒控制[J]. 汽车工程, 2022, 44(11): 1676-1688.

Xueyun Li,Yiping Wang,Chuqi Su,Xinle Gong,Hung Jin,Xun Liu,Xiaohong Yuan,Huiqian Li. Robust Control for Shared Steering Control System Based on Authority Level Dynamic Allocation[J]. Automotive Engineering, 2022, 44(11): 1676-1688.

图/表 16

图1

图2

图3

图4

表1

驾驶权决策过程"

1：获取参数车辆状态参数计算 $θ r 、 θ l$
2：估计驾驶员转向操作得到 $p δ d$
3：对车辆轨迹跟踪状态估计得到 $n t$
4：计算驾驶员驾驶权分配系数 $k$
5： if $p δ d ∈ 0, p ˉ$ and $n t ∈ n ˉ, 1$
6： → $k 1 = 0.2$ ， $k 2 = 1$
7： and if $p δ d ∈ p ˉ, 1$ and $n t ∈ 0, n ˉ$
8： → $k 1 = k$ ， $k 2 = 1 - k$
9： else
10： → $k 1 = k$ ， $k 2 = 1$
11： end
12：将决策结果 $k 1$ 和 $k 2$ 给控制下层

表1

表2

仿真参数"

符号	数值	单位
m	1 530	kg
a	1.139	m
b	1.637	m
I_z	4 607.47	kg/m²
i_s	16
I_s	0.82	kg/m²
K_s	50	N/rad
C_s	0.7	N/（m/s）
C_f0	140 000	N/rad
C_r0	180 000	N/rad
$C ? f ?$	14 000	N/rad
$C ? r$	18 000	N/rad
λ_f	0.2
λ_r	0.1

表2

图5

图6

图7

图8

图9

图10

图11

图12

图13

图14

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考虑驾驶权动态分配的共享转向系统鲁棒控制

Robust Control for Shared Steering Control System Based on Authority Level Dynamic Allocation

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