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

Abstract

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

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

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