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

Abstract

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

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.

Figures/Tables 16

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

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

References 29

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

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